Add asset desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f

.gitattributes

@@ -3368,7 +3368,5 @@ dataset/desktop_supplies/office_tools/673fccfca7135cb2a13ad2f0bc1fa88a/mesh/stic
 dataset/desktop_supplies/office_tools/673fccfca7135cb2a13ad2f0bc1fa88a/sticky_notes_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/69d21ac727b15a7ba794aa50f8b08011/mesh/stamp_023.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/69d21ac727b15a7ba794aa50f8b08011/stamp_023.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/6b61862994645aafbcaba695023be304/mesh/scissors_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/6b61862994645aafbcaba695023be304/scissors_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/68a33e5c0e075f8f8ed9d94a85048dc2/mesh/scissors_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/68a33e5c0e075f8f8ed9d94a85048dc2/scissors_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mesh/scissors_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/scissors_023.usd filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scissors_023_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd scissors_023_geometry_Looks_material_0.png

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mesh/scissors_023.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dcadca552a573b3a352098e5e906670197f136353134d78927ca640f765fc85
+size 10101276

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mesh/scissors_023.mtl

@@ -0,0 +1,6 @@
+newmtl scissors_023_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mjcf/mesh/scissors_023_collision_0.obj

@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.01589044 -0.08405686 0.00920601
+v 0.01564080 -0.08407015 0.00917883
+v 0.02030274 -0.08878729 0.00895224
+v 0.02030274 0.00564866 0.00905047
+v 0.01564080 0.01037910 0.00917374
+v 0.01564080 -0.08837538 0.00842299
+v 0.01631488 -0.08868099 0.00846467
+v 0.02030274 -0.09155114 0.00815653
+v 0.02030274 0.01044553 0.00862273
+v 0.01564080 0.02926097 0.00832011
+v 0.01564080 -0.08969085 0.00587275
+v 0.01813675 -0.09117909 0.00787016
+v 0.02030274 -0.09204277 0.00587274
+v 0.02030274 0.01048540 0.00861729
+v 0.01777576 0.02926097 0.00758422
+v 0.01691091 0.03399141 0.00740298
+v 0.01564080 0.02983234 0.00826211
+v 0.01564080 -0.08979714 0.00193956
+v 0.01571656 -0.08985029 0.00193956
+v 0.01577817 -0.08978386 0.00587275
+v 0.01808610 -0.09120566 0.00587274
+v 0.02030274 -0.09228194 0.00193955
+v 0.02030274 0.01053855 0.00858285
+v 0.02010285 0.02926099 0.00194000
+v 0.01987055 0.03399143 0.00194001
+v 0.01903902 0.03399142 0.00543638
+v 0.01564080 0.03399141 0.00779811
+v 0.01869810 0.03698116 0.00481651
+v 0.01564080 0.03824349 0.00607441
+v 0.01564080 0.03796445 0.00621035
+v 0.01564080 -0.08981042 -0.00199182
+v 0.01570105 -0.08985027 -0.00199182
+v 0.01800897 -0.09125878 -0.00199183
+v 0.01802449 -0.09124551 0.00193955
+v 0.02030274 -0.09230851 -0.00199183
+v 0.02030274 0.01417940 0.00605801
+v 0.02010787 0.02926101 -0.00199138
+v 0.01987785 0.03399145 -0.00199137
+v 0.02030274 0.01829861 0.00193996
+v 0.01893816 0.03730008 0.00194003
+v 0.01564126 0.04342572 0.00194005
+v 0.01564080 0.04342572 0.00194186
+v 0.01564080 0.04341243 0.00196180
+v 0.01564080 -0.08981042 -0.00206432
+v 0.01808884 -0.09120562 -0.00474507
+v 0.02030274 -0.09229522 -0.00222384
+v 0.02030274 0.01828534 -0.00199142
+v 0.02030274 0.01687684 -0.00347046
+v 0.02030274 0.01451163 -0.00592464
+v 0.02030274 0.01344863 -0.00691065
+v 0.02030274 0.01047217 -0.00865613
+v 0.01893040 0.03404461 -0.00623450
+v 0.01870404 0.03698120 -0.00512885
+v 0.01894273 0.03730010 -0.00199135
+v 0.01564080 0.04342572 0.00192192
+v 0.01564080 -0.08950478 -0.00599027
+v 0.01628658 -0.08994327 -0.00600296
+v 0.01833300 -0.09105943 -0.00736598
+v 0.02030274 -0.09210917 -0.00414150
+v 0.02012567 -0.09187000 -0.00600297
+v 0.02030274 0.01043231 -0.00866157
+v 0.01828736 0.03250324 -0.00796366
+v 0.01761192 0.03565243 -0.00775159
+v 0.01564080 0.04167176 -0.00367881
+v 0.01564080 0.04313341 -0.00199133
+v 0.01564080 -0.08937190 -0.00642346
+v 0.01564080 -0.08784381 -0.00847705
+v 0.02030274 -0.09140492 -0.00791881
+v 0.02030274 -0.09190986 -0.00600115
+v 0.02030274 -0.09183013 -0.00630928
+v 0.02030274 0.00586133 -0.00909116
+v 0.01589044 0.02926103 -0.00879563
+v 0.01599998 0.03404462 -0.00830985
+v 0.01564080 0.03625038 -0.00790384
+v 0.01564080 0.03935970 -0.00598255
+v 0.01564080 0.03466914 -0.00823191
+v 0.01564080 -0.08771092 -0.00850605
+v 0.01589044 -0.08792353 -0.00850243
+v 0.02030274 -0.08953135 -0.00856044
+v 0.02030274 0.00564872 -0.00909116
+v 0.01564080 0.01037916 -0.00931045
+v 0.01564080 0.01063162 -0.00930864
+v 0.01564080 0.02926103 -0.00884275
+v 0.01564080 0.03404462 -0.00833704
+v 0.01589044 -0.08405680 -0.00895736
+v 0.01564080 -0.08405680 -0.00893561
+v 0.02012567 -0.08919915 -0.00861300
+v 0.02030274 -0.08930546 -0.00860575
+v 0.02030274 -0.08918587 -0.00862387
+v 0.01564080 -0.08380433 -0.00896099
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 10
+f 2 10 17
+f 2 17 27
+f 2 27 30
+f 2 30 29
+f 2 29 43
+f 2 43 42
+f 2 42 55
+f 2 55 65
+f 2 65 64
+f 2 64 75
+f 2 75 74
+f 2 74 76
+f 2 76 84
+f 2 84 83
+f 2 83 82
+f 2 82 81
+f 2 81 90
+f 2 90 86
+f 2 86 77
+f 2 77 67
+f 2 67 66
+f 2 66 56
+f 2 56 44
+f 2 44 31
+f 2 31 18
+f 2 18 11
+f 2 11 6
+f 3 7 8
+f 3 8 13
+f 3 13 22
+f 3 22 35
+f 3 35 46
+f 3 46 59
+f 3 59 69
+f 3 69 70
+f 3 70 68
+f 3 68 79
+f 3 79 88
+f 3 88 89
+f 3 89 80
+f 3 80 71
+f 3 71 61
+f 3 61 51
+f 3 51 50
+f 3 50 49
+f 3 49 48
+f 3 48 47
+f 3 47 39
+f 3 39 36
+f 3 36 23
+f 3 23 14
+f 3 14 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 6 12 7
+f 7 12 8
+f 8 12 13
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 21 22
+f 12 22 13
+f 12 20 21
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 15 26 16
+f 16 27 17
+f 16 26 28
+f 16 28 29
+f 16 29 30
+f 16 30 27
+f 18 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 21
+f 19 21 20
+f 21 34 22
+f 22 34 35
+f 23 36 24
+f 24 37 38
+f 24 38 25
+f 24 36 39
+f 24 39 37
+f 25 38 40
+f 25 40 28
+f 25 28 26
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 29
+f 31 44 32
+f 32 44 45
+f 32 45 33
+f 33 45 35
+f 33 35 34
+f 35 45 46
+f 37 39 47
+f 37 47 48
+f 37 48 49
+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 38 52 53
+f 38 53 54
+f 38 54 40
+f 38 51 52
+f 40 54 41
+f 41 55 42
+f 41 54 55
+f 44 56 57
+f 44 57 45
+f 45 57 58
+f 45 58 46
+f 46 58 60
+f 46 60 59
+f 51 61 62
+f 51 62 52
+f 52 62 63
+f 52 63 53
+f 53 63 64
+f 53 64 65
+f 53 65 54
+f 54 65 55
+f 56 66 58
+f 56 58 57
+f 58 66 67
+f 58 67 68
+f 58 68 60
+f 59 60 69
+f 60 70 69
+f 60 68 70
+f 61 71 62
+f 62 72 73
+f 62 73 63
+f 62 71 72
+f 63 74 75
+f 63 75 64
+f 63 73 76
+f 63 76 74
+f 67 77 78
+f 67 78 68
+f 68 78 79
+f 71 80 81
+f 71 81 82
+f 71 82 83
+f 71 83 72
+f 72 83 73
+f 73 84 76
+f 73 83 84
+f 77 85 78
+f 77 86 85
+f 78 85 87
+f 78 87 79
+f 79 87 88
+f 80 89 85
+f 80 85 81
+f 81 85 90
+f 85 89 87
+f 85 86 90
+f 87 89 88
+

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mjcf/mesh/scissors_023_collision_1.obj

@@ -0,0 +1,724 @@
+# https://github.com/mikedh/trimesh
+v -0.01646467 0.04340440 0.00193980
+v -0.01632639 0.04340442 -0.00199053
+v -0.01528933 0.04340439 0.00515624
+v -0.01511963 0.04817345 0.00541542
+v -0.01503163 0.05289849 0.00534865
+v -0.01494678 0.05760885 0.00523261
+v -0.01483993 0.06233389 0.00509271
+v -0.01413913 0.09339881 0.00394648
+v -0.01413913 0.09339881 0.00385903
+v -0.01427740 0.06146816 -0.00425930
+v -0.01447539 0.05760889 -0.00459639
+v -0.01469537 0.05289853 -0.00492075
+v -0.01489964 0.04817349 -0.00511792
+v -0.01513848 0.04340443 -0.00505275
+v -0.01527362 0.04340439 0.00518963
+v -0.01180730 0.04817344 0.00725657
+v -0.01180730 0.05289848 0.00714528
+v -0.01180730 0.05760884 0.00698631
+v -0.01180730 0.06233389 0.00680031
+v -0.01094623 0.11427995 0.00508654
+v -0.01419884 0.09066945 0.00405299
+v -0.01071681 0.11899031 0.00497686
+v -0.01045912 0.12371535 0.00481310
+v -0.01018257 0.12844038 0.00460325
+v -0.00988716 0.13316543 0.00433457
+v -0.00965775 0.13670186 0.00409132
+v -0.01410770 0.06462307 -0.00391427
+v -0.00965775 0.13670187 0.00330430
+v -0.00988716 0.13316544 0.00263493
+v -0.01060054 0.12371536 0.00194009
+v -0.00928692 0.13316545 0.00066818
+v -0.00942205 0.12967302 0.00019118
+v -0.00705252 0.14260085 -0.00199017
+v -0.00498153 0.15056886 -0.00411589
+v -0.00515752 0.14732590 -0.00438619
+v -0.00540264 0.14260086 -0.00473599
+v -0.01103422 0.07650904 -0.00581421
+v -0.00563520 0.13787582 -0.00502696
+v -0.00584889 0.13316547 -0.00525911
+v -0.01180730 0.05289854 -0.00683186
+v -0.01180730 0.04817350 -0.00702266
+v -0.01180730 0.04340444 -0.00683189
+v -0.01184187 0.04340438 0.00698308
+v -0.00583004 0.04962617 0.00799907
+v -0.00618515 0.05289848 0.00805950
+v -0.00719079 0.09539447 0.00725992
+v -0.01180730 0.04340438 0.00699262
+v -0.00722536 0.04340438 0.00751412
+v -0.00719079 0.12371535 0.00587677
+v -0.00577661 0.15677594 0.00460336
+v -0.00541836 0.16150096 0.00437601
+v -0.00511038 0.16516947 0.00412323
+v -0.00515123 0.16549232 0.00194025
+v -0.00577976 0.16150097 0.00194023
+v -0.00501296 0.16471460 -0.00030793
+v -0.00910465 0.13811058 0.00197194
+v -0.00524551 0.16150098 -0.00078493
+v -0.00558177 0.15677597 -0.00143045
+v -0.00651827 0.14732589 -0.00199015
+v -0.00478983 0.15370909 -0.00379153
+v -0.00032731 0.18778219 -0.00402830
+v -0.00052215 0.18511151 -0.00425090
+v -0.00085527 0.18038649 -0.00459276
+v -0.00118210 0.17566144 -0.00487260
+v -0.00149322 0.17093641 -0.00509044
+v -0.00177920 0.16621137 -0.00524786
+v -0.00257428 0.13787582 -0.00659305
+v -0.00604374 0.12844042 -0.00543879
+v -0.00719079 0.08594445 -0.00727691
+v -0.00719079 0.08123409 -0.00753450
+v -0.00895380 0.05289854 -0.00783511
+v -0.00719079 0.04344846 -0.00755690
+v -0.00719079 0.04340444 -0.00755213
+v -0.00230088 0.05260500 0.00811673
+v -0.00719079 0.04344840 0.00751889
+v -0.00087413 0.04526798 0.00791797
+v -0.00257428 0.05646426 0.00806588
+v -0.00257428 0.09539447 0.00742050
+v 0.00203908 0.17566140 0.00512811
+v 0.00203908 0.18038645 0.00496595
+v -0.00257428 0.15677594 0.00537766
+v -0.00719079 0.04340438 0.00751571
+v -0.00257428 0.16150096 0.00512010
+v -0.00108468 0.18038645 0.00444286
+v -0.00068871 0.18511147 0.00422983
+v -0.00040902 0.18803162 0.00402632
+v -0.00060700 0.18885336 0.00194033
+v -0.00137380 0.18511148 0.00194032
+v -0.00471755 0.16785483 0.00194026
+v -0.00120724 0.18511150 -0.00199001
+v -0.00418331 0.16627006 -0.00176749
+v -0.00434044 0.16150099 -0.00275168
+v -0.00577347 0.15210962 -0.00228427
+v -0.00054415 0.18866263 -0.00199000
+v 0.00015665 0.19102514 -0.00198999
+v 0.00325528 0.19283006 -0.00447505
+v 0.00184738 0.18954308 -0.00468811
+v 0.00203908 0.18511151 -0.00522871
+v 0.00203908 0.18038649 -0.00562940
+v 0.00203908 0.17566144 -0.00596329
+v 0.00203908 0.17093641 -0.00623519
+v -0.00257428 0.13316548 -0.00685700
+v -0.00719079 0.07650905 -0.00768239
+v -0.00257428 0.12844043 -0.00706530
+v -0.00257428 0.12371540 -0.00722590
+v -0.00664712 0.05289854 -0.00807042
+v -0.00601545 0.04967025 -0.00800842
+v -0.00741078 0.04812948 -0.00778106
+v -0.00089927 0.04528272 -0.00795915
+v -0.00715622 0.04340444 -0.00755372
+v 0.00175311 0.05260500 0.00812627
+v -0.00248000 0.04340438 0.00760315
+v 0.00039235 0.04526798 0.00791797
+v 0.00203908 0.05636155 0.00806747
+v 0.00510943 0.05289848 0.00807062
+v 0.00499315 0.18511147 0.00435702
+v 0.00481716 0.18983652 0.00424257
+v 0.00203908 0.18511147 0.00467978
+v 0.00207365 0.18970445 0.00424734
+v 0.00363868 0.19243383 0.00407881
+v 0.00044263 0.19121588 0.00194034
+v 0.00246334 0.19331430 -0.00198998
+v 0.00510000 0.19283006 -0.00447505
+v 0.00563739 0.18983656 -0.00481690
+v 0.00665559 0.15677598 -0.00619390
+v 0.00203908 0.16621137 -0.00643872
+v -0.00257428 0.11899036 -0.00733880
+v -0.00257428 0.11428000 -0.00742150
+v 0.00203908 0.16150100 -0.00657230
+v -0.00257428 0.05674313 -0.00807676
+v -0.00251143 0.05281049 -0.00811017
+v -0.00257428 0.10955496 -0.00748193
+v 0.00033893 0.04528272 -0.00795915
+v -0.00231659 0.04340444 -0.00766820
+v -0.00249572 0.04340444 -0.00766661
+v 0.00194481 0.05281049 -0.00811653
+v 0.00492087 0.04953812 0.00801179
+v 0.00197623 0.04340438 0.00756659
+v 0.00665559 0.04340438 0.00727722
+v 0.01127525 0.04340438 0.00682249
+v 0.01004334 0.11427995 0.00480353
+v 0.00987050 0.11899031 0.00469862
+v 0.00970394 0.12371535 0.00458256
+v 0.01127210 0.04817345 0.00666670
+v 0.00675302 0.18511148 0.00194032
+v 0.00633819 0.18983653 0.00194034
+v 0.00458775 0.19243383 0.00407881
+v 0.00953738 0.12844038 0.00445221
+v 0.00937396 0.13316543 0.00431231
+v 0.00921369 0.13787578 0.00416129
+v 0.00905027 0.14260083 0.00399913
+v 0.00896856 0.14503672 0.00391169
+v 0.00274932 0.19300612 0.00194035
+v 0.00559967 0.19331430 -0.00198998
+v 0.00715527 0.18983655 -0.00198999
+v 0.00903770 0.17397392 -0.00405379
+v 0.00920426 0.17093641 -0.00424936
+v 0.00945253 0.16621137 -0.00451808
+v 0.00968822 0.16150100 -0.00473751
+v 0.00990821 0.15677598 -0.00491082
+v 0.00665559 0.16150100 -0.00597448
+v 0.01012191 0.15205093 -0.00504758
+v 0.01032303 0.14732590 -0.00515730
+v 0.00665559 0.15205093 -0.00637359
+v 0.00665559 0.14732590 -0.00652306
+v 0.00203908 0.15677598 -0.00666294
+v 0.00203908 0.14732591 -0.00682197
+v 0.00203908 0.14260087 -0.00689513
+v 0.00203908 0.13787583 -0.00696509
+v 0.00203908 0.13316548 -0.00703348
+v 0.00545826 0.05289854 -0.00807678
+v 0.00665559 0.14260086 -0.00663756
+v 0.00203908 0.05656704 -0.00807199
+v 0.00669016 0.04340444 -0.00751556
+v 0.00212394 0.04340444 -0.00763799
+v 0.00194481 0.04340444 -0.00764276
+v 0.00513771 0.04964090 -0.00802432
+v 0.01460328 0.04340439 0.00520235
+v 0.01450900 0.04817345 0.00510856
+v 0.01443358 0.05289849 0.00499410
+v 0.01022875 0.10955491 0.00489414
+v 0.01431731 0.05760885 0.00484943
+v 0.01127210 0.05289849 0.00649500
+v 0.00900942 0.16919018 0.00007049
+v 0.00521313 0.19300612 0.00194035
+v 0.00889314 0.17234509 -0.00063384
+v 0.01405333 0.06705892 0.00453148
+v 0.01392448 0.07178396 0.00436932
+v 0.01379563 0.07650900 0.00420240
+v 0.01366364 0.08123405 0.00401957
+v 0.00929854 0.16150098 0.00068895
+v 0.01358822 0.08372863 0.00391783
+v 0.00769266 0.18511150 -0.00199001
+v 0.00903770 0.17397392 -0.00325564
+v 0.01041103 0.15677597 -0.00199011
+v 0.01078814 0.15205092 -0.00199013
+v 0.01359136 0.11683326 -0.00397450
+v 0.01365421 0.11427998 -0.00408263
+v 0.01049588 0.14260086 -0.00523205
+v 0.01376420 0.10955495 -0.00426867
+v 0.01386791 0.10484459 -0.00443562
+v 0.01395905 0.10011955 -0.00457715
+v 0.01127210 0.09539452 -0.00629589
+v 0.01127210 0.09066948 -0.00642629
+v 0.01127210 0.08594444 -0.00654236
+v 0.00665559 0.13787582 -0.00672024
+v 0.00665559 0.13316547 -0.00679340
+v 0.01127210 0.05289854 -0.00711964
+v 0.01127210 0.04817350 -0.00717371
+v 0.00665559 0.12844043 -0.00685861
+v 0.01127210 0.08123408 -0.00663142
+v 0.01127525 0.04340444 -0.00694318
+v 0.01564035 0.04340440 0.00196841
+v 0.01529780 0.05289850 0.00193983
+v 0.01146381 0.14260085 -0.00199017
+v 0.01114326 0.14732589 -0.00199015
+v 0.01002134 0.16150099 -0.00199010
+v 0.00960966 0.16621136 -0.00199008
+v 0.00918226 0.17083369 -0.00196303
+v 0.00871087 0.17560274 -0.00196301
+v 0.01510925 0.05760886 0.00193985
+v 0.01428274 0.07650901 0.00193992
+v 0.01359136 0.11683326 -0.00392521
+v 0.01461585 0.08123407 -0.00199039
+v 0.01473842 0.07650903 -0.00199041
+v 0.01404075 0.09539452 -0.00469641
+v 0.01127210 0.10011955 -0.00615596
+v 0.01553978 0.04340442 -0.00199053
+v 0.01411303 0.09066948 -0.00480455
+v 0.01417589 0.08594444 -0.00489678
+v 0.01421988 0.08123408 -0.00496675
+v 0.01439901 0.05289853 -0.00535163
+v 0.01441473 0.04817349 -0.00538503
+v 0.01449329 0.04340443 -0.00517199
+v 0.01130039 0.04340444 -0.00693683
+v 0.01564035 0.04340440 0.00148507
+v 0.01564035 0.04341908 0.00196047
+v 0.01564035 0.04344842 0.00194139
+v 0.01564035 0.04344842 0.00192231
+v 0.01461900 0.04340443 -0.00479518
+v 0.01425131 0.07650904 -0.00502878
+v 0.01450586 0.04340443 -0.00513543
+f 1 2 14
+f 1 14 42
+f 1 42 73
+f 1 73 110
+f 1 110 135
+f 1 135 134
+f 1 134 176
+f 1 176 175
+f 1 175 174
+f 1 174 212
+f 1 212 235
+f 1 235 234
+f 1 234 242
+f 1 242 240
+f 1 240 228
+f 1 228 236
+f 1 236 213
+f 1 213 178
+f 1 178 140
+f 1 140 139
+f 1 139 138
+f 1 138 112
+f 1 112 82
+f 1 82 48
+f 1 48 47
+f 1 47 43
+f 1 43 15
+f 1 15 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 9 10
+f 3 15 4
+f 4 16 17
+f 4 17 5
+f 4 15 16
+f 5 17 18
+f 5 18 6
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 7 21 8
+f 7 20 21
+f 8 21 20
+f 8 20 22
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 28
+f 8 28 9
+f 9 27 10
+f 9 28 29
+f 9 29 30
+f 9 30 31
+f 9 31 27
+f 10 27 31
+f 10 31 32
+f 10 32 33
+f 10 33 34
+f 10 34 35
+f 10 35 11
+f 11 35 36
+f 11 36 12
+f 12 37 13
+f 12 36 38
+f 12 38 39
+f 12 39 37
+f 13 40 41
+f 13 41 14
+f 13 37 40
+f 14 41 42
+f 15 43 16
+f 16 44 45
+f 16 45 46
+f 16 46 17
+f 16 43 47
+f 16 47 48
+f 16 48 44
+f 17 46 18
+f 18 46 20
+f 18 20 19
+f 20 46 22
+f 22 49 23
+f 22 46 49
+f 23 49 50
+f 23 50 24
+f 24 50 51
+f 24 51 25
+f 25 51 26
+f 26 51 52
+f 26 52 53
+f 26 53 54
+f 26 54 28
+f 28 54 55
+f 28 55 56
+f 28 56 29
+f 29 56 31
+f 29 31 30
+f 31 56 55
+f 31 55 57
+f 31 57 58
+f 31 58 59
+f 31 59 33
+f 31 33 32
+f 33 59 34
+f 34 59 60
+f 34 60 61
+f 34 61 62
+f 34 62 63
+f 34 63 35
+f 35 63 64
+f 35 64 36
+f 36 64 38
+f 37 39 40
+f 38 64 65
+f 38 65 39
+f 39 65 66
+f 39 66 67
+f 39 67 68
+f 39 68 40
+f 40 68 69
+f 40 69 70
+f 40 70 41
+f 41 70 71
+f 41 71 42
+f 42 72 73
+f 42 71 72
+f 44 74 45
+f 44 48 75
+f 44 75 76
+f 44 76 74
+f 45 74 77
+f 45 77 78
+f 45 78 46
+f 46 78 79
+f 46 79 80
+f 46 80 81
+f 46 81 49
+f 48 82 75
+f 49 81 50
+f 50 81 83
+f 50 83 84
+f 50 84 85
+f 50 85 51
+f 51 85 52
+f 52 85 86
+f 52 86 87
+f 52 87 88
+f 52 88 89
+f 52 89 53
+f 53 89 90
+f 53 90 55
+f 53 55 54
+f 55 90 61
+f 55 61 57
+f 57 61 91
+f 57 91 58
+f 58 91 61
+f 58 61 92
+f 58 92 93
+f 58 93 59
+f 59 93 60
+f 60 93 92
+f 60 92 61
+f 61 90 94
+f 61 94 95
+f 61 95 96
+f 61 96 97
+f 61 97 62
+f 62 97 98
+f 62 98 63
+f 63 98 99
+f 63 99 64
+f 64 99 100
+f 64 100 65
+f 65 100 101
+f 65 101 67
+f 65 67 66
+f 67 102 69
+f 67 69 68
+f 67 101 102
+f 69 102 70
+f 70 103 71
+f 70 102 104
+f 70 104 105
+f 70 105 103
+f 71 106 107
+f 71 107 108
+f 71 108 72
+f 71 103 106
+f 72 108 107
+f 72 107 109
+f 72 109 110
+f 72 110 73
+f 74 111 77
+f 74 76 111
+f 75 82 76
+f 76 82 112
+f 76 112 113
+f 76 113 111
+f 77 111 114
+f 77 114 78
+f 78 114 115
+f 78 115 79
+f 79 116 117
+f 79 117 80
+f 79 115 116
+f 80 117 118
+f 80 118 85
+f 80 85 84
+f 80 84 81
+f 81 84 83
+f 85 118 86
+f 86 118 119
+f 86 119 120
+f 86 120 121
+f 86 121 87
+f 87 121 95
+f 87 95 94
+f 87 94 88
+f 88 94 89
+f 89 94 90
+f 95 121 122
+f 95 122 96
+f 96 122 154
+f 96 154 123
+f 96 123 124
+f 96 124 98
+f 96 98 97
+f 98 124 99
+f 99 124 100
+f 100 124 101
+f 101 124 125
+f 101 125 126
+f 101 126 104
+f 101 104 102
+f 103 105 127
+f 103 127 128
+f 103 128 106
+f 104 126 105
+f 105 126 129
+f 105 129 127
+f 106 130 131
+f 106 131 107
+f 106 128 132
+f 106 132 130
+f 107 131 109
+f 109 133 134
+f 109 134 135
+f 109 135 110
+f 109 131 136
+f 109 136 133
+f 111 137 115
+f 111 115 114
+f 111 113 137
+f 112 138 113
+f 113 138 139
+f 113 139 137
+f 115 137 140
+f 115 140 116
+f 116 141 142
+f 116 142 143
+f 116 143 117
+f 116 140 144
+f 116 144 141
+f 117 145 146
+f 117 146 147
+f 117 147 118
+f 117 143 148
+f 117 148 149
+f 117 149 150
+f 117 150 151
+f 117 151 152
+f 117 152 145
+f 118 147 120
+f 118 120 119
+f 120 147 185
+f 120 185 153
+f 120 153 121
+f 121 153 122
+f 122 153 185
+f 122 185 154
+f 123 154 155
+f 123 155 124
+f 124 155 156
+f 124 156 157
+f 124 157 158
+f 124 158 159
+f 124 159 160
+f 124 160 161
+f 124 161 125
+f 125 161 162
+f 125 162 163
+f 125 163 164
+f 125 164 126
+f 126 164 165
+f 126 165 129
+f 127 129 166
+f 127 166 128
+f 128 166 167
+f 128 167 168
+f 128 168 169
+f 128 169 170
+f 128 170 171
+f 128 171 132
+f 129 165 172
+f 129 172 166
+f 130 136 131
+f 130 132 136
+f 132 171 173
+f 132 173 136
+f 133 174 175
+f 133 175 176
+f 133 176 134
+f 133 136 177
+f 133 177 174
+f 136 173 171
+f 136 171 177
+f 137 139 140
+f 140 178 179
+f 140 179 180
+f 140 180 144
+f 141 181 180
+f 141 180 142
+f 141 144 181
+f 142 180 182
+f 142 182 143
+f 143 182 148
+f 144 180 183
+f 144 183 181
+f 145 184 146
+f 145 152 184
+f 146 155 185
+f 146 185 147
+f 146 184 186
+f 146 186 155
+f 148 182 187
+f 148 187 188
+f 148 188 149
+f 149 188 189
+f 149 189 150
+f 150 189 190
+f 150 190 151
+f 151 190 152
+f 152 191 184
+f 152 190 192
+f 152 192 191
+f 154 185 155
+f 155 193 194
+f 155 194 156
+f 155 186 193
+f 156 194 195
+f 156 195 196
+f 156 196 197
+f 156 197 157
+f 157 197 158
+f 158 197 159
+f 159 197 160
+f 160 162 161
+f 160 197 162
+f 162 197 198
+f 162 198 163
+f 163 199 165
+f 163 165 164
+f 163 198 200
+f 163 200 201
+f 163 201 202
+f 163 202 199
+f 165 199 203
+f 165 203 204
+f 165 204 205
+f 165 205 172
+f 166 172 206
+f 166 206 167
+f 167 206 207
+f 167 207 168
+f 168 207 171
+f 168 171 169
+f 169 171 170
+f 171 208 209
+f 171 209 177
+f 171 207 210
+f 171 210 208
+f 172 205 211
+f 172 211 206
+f 174 177 212
+f 177 209 212
+f 178 213 180
+f 178 180 179
+f 180 213 182
+f 180 181 183
+f 182 213 214
+f 182 214 189
+f 182 189 188
+f 182 188 187
+f 184 191 192
+f 184 192 215
+f 184 215 216
+f 184 216 196
+f 184 196 195
+f 184 195 186
+f 186 195 217
+f 186 217 218
+f 186 218 219
+f 186 219 194
+f 186 194 220
+f 186 220 193
+f 189 214 190
+f 190 214 221
+f 190 221 192
+f 192 221 222
+f 192 222 223
+f 192 223 215
+f 193 220 194
+f 194 219 218
+f 194 218 217
+f 194 217 195
+f 196 216 223
+f 196 223 197
+f 197 223 224
+f 197 224 198
+f 198 224 225
+f 198 225 200
+f 199 202 226
+f 199 226 227
+f 199 227 203
+f 200 225 201
+f 201 225 228
+f 201 228 202
+f 202 228 226
+f 203 227 229
+f 203 229 204
+f 204 229 230
+f 204 230 205
+f 205 230 231
+f 205 231 211
+f 206 211 208
+f 206 208 207
+f 207 208 210
+f 208 211 231
+f 208 231 232
+f 208 232 209
+f 209 232 233
+f 209 233 234
+f 209 234 235
+f 209 235 212
+f 213 236 239
+f 213 239 238
+f 213 238 237
+f 213 237 223
+f 213 223 214
+f 214 223 221
+f 215 223 216
+f 221 223 222
+f 223 237 238
+f 223 238 224
+f 224 238 239
+f 224 239 236
+f 224 236 225
+f 225 236 228
+f 226 228 229
+f 226 229 227
+f 228 240 233
+f 228 233 232
+f 228 232 241
+f 228 241 231
+f 228 231 230
+f 228 230 229
+f 231 241 232
+f 233 240 242
+f 233 242 234
+

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mjcf/mesh/scissors_023_collision_10.obj

@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.02517419 -0.09344033 -0.00199227
+v 0.02517419 -0.09295432 -0.00592465
+v 0.02974014 -0.09284789 -0.00592465
+v 0.02974014 -0.09321942 -0.00199227
+v 0.02974014 -0.09320740 0.00194010
+v 0.02517419 -0.09342429 0.00194010
+v 0.02517419 -0.09190200 -0.00841067
+v 0.02974014 -0.09184578 -0.00842128
+v 0.03435608 -0.09224743 -0.00592465
+v 0.03435608 -0.09156862 -0.00823032
+v 0.03718106 -0.09130956 -0.00802875
+v 0.03435608 -0.09254465 -0.00199227
+v 0.03435608 -0.09253062 0.00194010
+v 0.03435608 -0.09232779 0.00587247
+v 0.02974014 -0.09294433 0.00587247
+v 0.02517419 -0.09306081 0.00587247
+v 0.02517419 -0.09188996 -0.00843896
+v 0.02517419 -0.08882537 -0.00891635
+v 0.02517419 -0.08879123 -0.00892166
+v 0.02974014 -0.08879123 -0.00886154
+v 0.03435608 -0.08879123 -0.00879789
+v 0.03882063 -0.08898202 -0.00855918
+v 0.03773520 -0.09150236 -0.00592465
+v 0.03976467 -0.08869282 -0.00854327
+v 0.03976467 -0.09073321 -0.00592464
+v 0.03806940 -0.09162690 -0.00199227
+v 0.03805797 -0.09162089 0.00194010
+v 0.03784374 -0.09153655 0.00587247
+v 0.03733959 -0.09136385 0.00803669
+v 0.02517419 -0.09305077 0.00590076
+v 0.03435608 -0.09166308 0.00828423
+v 0.02974014 -0.09195627 0.00849111
+v 0.03976467 -0.08395136 -0.00856801
+v 0.02517419 -0.08509807 -0.00837351
+v 0.03976467 -0.09103647 -0.00199226
+v 0.03976467 -0.09103447 -0.00095082
+v 0.03976467 -0.09102846 0.00194011
+v 0.03976467 -0.09082764 0.00587248
+v 0.03976467 -0.09077944 0.00617130
+v 0.03976467 -0.09099030 0.00287900
+v 0.03976467 -0.08877723 0.00863434
+v 0.03891632 -0.08903027 0.00865379
+v 0.02517419 -0.09201251 0.00851586
+v 0.03435608 -0.08879129 0.00899504
+v 0.02974014 -0.08879129 0.00907638
+v 0.02517419 -0.08879129 0.00914180
+v 0.02517419 -0.09197637 0.00852293
+v 0.03976467 -0.08318623 -0.00835052
+v 0.02517419 -0.07938864 -0.00632420
+v 0.03976467 -0.08813058 0.00873690
+v 0.03976467 -0.08386507 0.00872277
+v 0.02517419 -0.08475472 0.00846285
+v 0.02517419 -0.07512715 -0.00479297
+v 0.03976467 -0.07951517 -0.00679453
+v 0.03976467 -0.08316018 0.00859546
+v 0.02517419 -0.07934852 0.00646309
+v 0.02517419 -0.07494240 -0.00470279
+v 0.03976467 -0.07556294 -0.00483364
+v 0.03976467 -0.08151141 0.00792534
+v 0.02517419 -0.07489222 0.00474445
+v 0.02517419 -0.07324744 -0.00251381
+v 0.03976467 -0.07366917 -0.00185429
+v 0.03976467 -0.07875207 0.00667173
+v 0.03976467 -0.07553286 0.00494248
+v 0.03976467 -0.07471349 0.00410439
+v 0.02517419 -0.07292414 0.00194017
+v 0.02517419 -0.07301449 -0.00199220
+v 0.03976467 -0.07356475 -0.00138750
+v 0.03976467 -0.07339005 0.00164489
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 30
+f 1 30 43
+f 1 43 47
+f 1 47 46
+f 1 46 52
+f 1 52 56
+f 1 56 60
+f 1 60 66
+f 1 66 67
+f 1 67 61
+f 1 61 57
+f 1 57 53
+f 1 53 49
+f 1 49 34
+f 1 34 19
+f 1 19 18
+f 1 18 17
+f 1 17 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 4
+f 3 8 10
+f 3 10 11
+f 3 11 9
+f 4 9 12
+f 4 12 5
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 5 12 13
+f 6 15 16
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 10
+f 9 11 23
+f 9 23 12
+f 10 22 11
+f 11 22 24
+f 11 24 25
+f 11 25 23
+f 12 23 26
+f 12 26 27
+f 12 27 13
+f 13 27 28
+f 13 28 14
+f 14 28 29
+f 14 29 15
+f 15 30 16
+f 15 29 31
+f 15 31 32
+f 15 32 30
+f 19 33 20
+f 19 34 33
+f 20 33 21
+f 21 33 24
+f 21 24 22
+f 23 25 35
+f 23 35 26
+f 24 33 48
+f 24 48 54
+f 24 54 58
+f 24 58 62
+f 24 62 68
+f 24 68 69
+f 24 69 65
+f 24 65 64
+f 24 64 63
+f 24 63 59
+f 24 59 55
+f 24 55 51
+f 24 51 50
+f 24 50 41
+f 24 41 39
+f 24 39 38
+f 24 38 40
+f 24 40 37
+f 24 37 36
+f 24 36 35
+f 24 35 25
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 27 37 28
+f 28 38 39
+f 28 39 29
+f 28 37 40
+f 28 40 38
+f 29 41 42
+f 29 42 31
+f 29 39 41
+f 30 32 43
+f 31 42 44
+f 31 44 32
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 43
+f 33 34 48
+f 34 49 48
+f 41 50 42
+f 42 50 44
+f 44 50 51
+f 44 51 45
+f 45 51 46
+f 46 51 52
+f 48 49 53
+f 48 53 54
+f 51 55 52
+f 52 55 56
+f 53 57 54
+f 54 57 58
+f 55 59 60
+f 55 60 56
+f 57 61 58
+f 58 61 62
+f 59 63 60
+f 60 64 65
+f 60 65 66
+f 60 63 64
+f 61 67 62
+f 62 67 68
+f 65 69 66
+f 66 69 67
+f 67 69 68
+

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mjcf/mesh/scissors_023_collision_11.obj

@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v -0.02292409 -0.09278434 -0.00199097
+v -0.02292409 -0.09276389 0.00193945
+v -0.02292409 -0.09234653 -0.00590878
+v -0.02068994 -0.09185555 -0.00589797
+v -0.02104118 -0.09233837 -0.00199097
+v -0.02104118 -0.09231383 0.00193945
+v -0.02104118 -0.09207653 0.00587167
+v -0.02292409 -0.09262072 0.00427032
+v -0.02292409 -0.09167143 -0.00827928
+v -0.02199486 -0.09160186 -0.00822704
+v -0.01891597 -0.09102905 -0.00719129
+v -0.01864476 -0.09120091 -0.00456861
+v -0.01860252 -0.09122547 -0.00199097
+v -0.01862031 -0.09121730 0.00193945
+v -0.01867810 -0.09118049 0.00587168
+v -0.01872256 -0.09115595 0.00784410
+v -0.02292409 -0.09247750 0.00587167
+v -0.02292409 -0.08900783 -0.00874580
+v -0.02068994 -0.08918786 -0.00860530
+v -0.01642395 -0.08789084 -0.00849001
+v -0.01346288 -0.08692525 -0.00820000
+v -0.01683299 -0.08991207 -0.00589796
+v -0.01295825 -0.08733441 -0.00592497
+v -0.01629502 -0.08984252 -0.00199096
+v -0.01631280 -0.08983437 0.00193946
+v -0.01637060 -0.08977709 0.00587168
+v -0.02104118 -0.09155691 0.00816292
+v -0.02292409 -0.09217065 0.00722985
+v -0.01284488 -0.08741628 0.00587169
+v -0.01329615 -0.08704396 0.00826021
+v -0.01687967 -0.08868875 0.00846014
+v -0.01642395 -0.08406935 -0.00892591
+v -0.02292409 -0.08438850 -0.00843956
+v -0.00720728 -0.05098932 -0.00851330
+v -0.00719394 -0.05098932 -0.00851510
+v -0.00260339 -0.05098932 -0.00887356
+v -0.00257671 -0.05098932 -0.00887536
+v -0.01187786 -0.08402844 -0.00855124
+v -0.01065297 -0.08531728 -0.00592496
+v -0.00891012 -0.08242865 -0.00823961
+v -0.01048402 -0.08547686 -0.00199094
+v -0.01279153 -0.08748171 -0.00199095
+v -0.01280264 -0.08747355 0.00193947
+v -0.02292409 -0.09174513 0.00830882
+v -0.02104118 -0.08879104 0.00897711
+v -0.01053960 -0.08543188 0.00587170
+v -0.00877452 -0.08259647 0.00830886
+v -0.01177783 -0.08412670 0.00871955
+v -0.00719394 -0.06990447 -0.00901052
+v -0.01180895 -0.07934364 -0.00897813
+v -0.02292409 -0.07471204 -0.00549621
+v -0.01907825 -0.05098933 -0.00439915
+v -0.01643951 -0.05098933 -0.00597348
+v -0.01642395 -0.05098933 -0.00598248
+v -0.01202681 -0.05098932 -0.00749917
+v -0.01200235 -0.05098932 -0.00750638
+v -0.00021364 -0.05098932 -0.00892219
+v -0.00719394 -0.07462201 -0.00887724
+v -0.00730065 -0.07894676 -0.00843234
+v -0.00847218 -0.08295647 -0.00592495
+v -0.00482420 -0.07710557 -0.00794418
+v -0.00833658 -0.08311605 -0.00199094
+v -0.00834547 -0.08310380 0.00193948
+v -0.01049514 -0.08546460 0.00193948
+v -0.02292409 -0.09010443 0.00878978
+v -0.01642395 -0.08406941 0.00923652
+v -0.02292409 -0.08879104 0.00905096
+v -0.00837882 -0.08307107 0.00587170
+v -0.00472194 -0.07729793 0.00799185
+v -0.00721840 -0.07906138 0.00859708
+v -0.00719394 -0.07462207 0.00922034
+v -0.01180895 -0.07934370 0.00932480
+v -0.00021364 -0.05101387 -0.00892219
+v -0.00021364 -0.05573550 -0.00891680
+v -0.00021364 -0.06045713 -0.00884657
+v -0.02292409 -0.07126287 -0.00443164
+v -0.01956732 -0.05098934 -0.00199082
+v -0.00021364 -0.05098938 0.00910334
+v -0.00021364 -0.06490462 -0.00857279
+v -0.00437292 -0.07462201 -0.00824318
+v -0.00616468 -0.07966279 -0.00592494
+v -0.00471971 -0.07729788 -0.00592493
+v -0.00021364 -0.06656989 -0.00592489
+v -0.00021364 -0.06738410 -0.00238716
+v -0.00021364 -0.06747412 -0.00199088
+v -0.00602908 -0.07978554 -0.00199092
+v -0.00603575 -0.07977329 0.00193950
+v -0.00607131 -0.07979375 0.00587172
+v -0.00719394 -0.06990453 0.00939148
+v -0.00719394 -0.06518291 0.00928342
+v -0.00719394 -0.05098938 0.00888899
+v -0.02292409 -0.08556691 0.00883303
+v -0.00419730 -0.07462207 0.00837194
+v -0.00464858 -0.07743294 0.00587173
+v -0.00021364 -0.06726138 0.00357511
+v -0.00021364 -0.06692589 0.00587176
+v -0.00021364 -0.06670903 0.00622662
+v -0.00021364 -0.06517063 0.00871601
+v -0.00021364 -0.06045719 0.00909430
+v -0.02292409 -0.06923348 -0.00199088
+v -0.01962956 -0.05098936 0.00193960
+v -0.00021364 -0.05573556 0.00913035
+v -0.00257671 -0.05098938 0.00913396
+v -0.00465302 -0.07742473 -0.00199091
+v -0.00021364 -0.06749460 0.00159549
+v -0.01313165 -0.05098938 0.00764069
+v -0.02292409 -0.08407351 0.00858265
+v -0.01642395 -0.05098937 0.00624649
+v -0.00021364 -0.06749460 0.00193954
+v -0.02292409 -0.06919667 -0.00134241
+v -0.01962734 -0.05098936 0.00195401
+v -0.02292409 -0.06906984 0.00193954
+v -0.02292409 -0.06930305 0.00240608
+v -0.02292409 -0.07654917 0.00641212
+v -0.01914272 -0.05098937 0.00447942
+v -0.02292409 -0.07108288 0.00452258
+v -0.02292409 -0.07192983 0.00500893
+f 1 2 8
+f 1 8 17
+f 1 17 28
+f 1 28 44
+f 1 44 65
+f 1 65 67
+f 1 67 92
+f 1 92 107
+f 1 107 114
+f 1 114 117
+f 1 117 116
+f 1 116 113
+f 1 113 112
+f 1 112 110
+f 1 110 100
+f 1 100 76
+f 1 76 51
+f 1 51 33
+f 1 33 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 17 8
+f 7 16 17
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 22 12
+f 11 21 23
+f 11 23 22
+f 12 22 24
+f 12 24 13
+f 13 24 25
+f 13 25 14
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 27 28
+f 16 28 17
+f 16 26 29
+f 16 29 30
+f 16 30 31
+f 16 31 27
+f 18 32 19
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 18 36 37
+f 18 37 32
+f 19 32 20
+f 20 32 38
+f 20 38 21
+f 21 39 23
+f 21 38 40
+f 21 40 39
+f 22 23 24
+f 23 39 41
+f 23 41 42
+f 23 42 24
+f 24 42 43
+f 24 43 25
+f 25 43 29
+f 25 29 26
+f 27 44 28
+f 27 31 45
+f 27 45 44
+f 29 43 46
+f 29 46 30
+f 30 46 47
+f 30 47 48
+f 30 48 31
+f 31 48 45
+f 32 37 49
+f 32 49 50
+f 32 50 38
+f 33 51 52
+f 33 52 53
+f 33 53 54
+f 33 54 55
+f 33 55 56
+f 33 56 34
+f 34 56 55
+f 34 55 54
+f 34 54 53
+f 34 53 52
+f 34 52 77
+f 34 77 101
+f 34 101 111
+f 34 111 115
+f 34 115 108
+f 34 108 106
+f 34 106 91
+f 34 91 103
+f 34 103 78
+f 34 78 57
+f 34 57 37
+f 34 37 36
+f 34 36 35
+f 37 57 49
+f 38 50 58
+f 38 58 59
+f 38 59 40
+f 39 40 60
+f 39 60 41
+f 40 59 61
+f 40 61 60
+f 41 60 62
+f 41 62 63
+f 41 63 64
+f 41 64 43
+f 41 43 42
+f 43 64 46
+f 44 45 65
+f 45 48 66
+f 45 66 67
+f 45 67 65
+f 46 64 68
+f 46 68 47
+f 47 68 69
+f 47 69 70
+f 47 70 48
+f 48 70 71
+f 48 71 72
+f 48 72 66
+f 49 58 50
+f 49 57 73
+f 49 73 74
+f 49 74 75
+f 49 75 58
+f 51 76 52
+f 52 76 77
+f 57 78 102
+f 57 102 99
+f 57 99 98
+f 57 98 97
+f 57 97 96
+f 57 96 95
+f 57 95 109
+f 57 109 105
+f 57 105 85
+f 57 85 84
+f 57 84 83
+f 57 83 79
+f 57 79 75
+f 57 75 74
+f 57 74 73
+f 58 75 79
+f 58 79 59
+f 59 79 80
+f 59 80 61
+f 60 61 81
+f 60 81 62
+f 61 82 81
+f 61 80 79
+f 61 79 83
+f 61 83 84
+f 61 84 85
+f 61 85 82
+f 62 81 86
+f 62 86 87
+f 62 87 63
+f 63 68 64
+f 63 87 88
+f 63 88 68
+f 66 72 89
+f 66 89 67
+f 67 89 90
+f 67 90 91
+f 67 91 92
+f 68 88 69
+f 69 93 70
+f 69 88 94
+f 69 94 95
+f 69 95 96
+f 69 96 97
+f 69 97 98
+f 69 98 93
+f 70 93 98
+f 70 98 71
+f 71 89 72
+f 71 98 99
+f 71 99 89
+f 76 100 77
+f 77 100 101
+f 78 103 89
+f 78 89 102
+f 81 82 86
+f 82 104 86
+f 82 85 104
+f 85 105 104
+f 86 104 94
+f 86 94 87
+f 87 94 88
+f 89 99 102
+f 89 103 90
+f 90 103 91
+f 91 106 92
+f 92 106 108
+f 92 108 107
+f 94 104 105
+f 94 105 109
+f 94 109 95
+f 100 110 101
+f 101 110 112
+f 101 112 113
+f 101 113 111
+f 107 108 115
+f 107 115 114
+f 111 113 116
+f 111 116 115
+f 114 115 117
+f 115 116 117
+

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mjcf/mesh/scissors_023_collision_12.obj

@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.00665808 -0.06990326 0.00932053
+v 0.00665808 -0.07462420 0.00918881
+v 0.01127336 -0.07934514 0.00929885
+v 0.01564035 -0.08406989 0.00917794
+v 0.00204124 -0.05098909 0.00907522
+v -0.00021364 -0.05098909 0.00910409
+v -0.00021364 -0.05573664 0.00913114
+v -0.00021364 -0.06045758 0.00909323
+v 0.00667049 -0.07907527 0.00859699
+v 0.01124077 -0.08413831 0.00871064
+v -0.00021364 -0.06517092 0.00871613
+v 0.01564035 -0.08838032 0.00842376
+v 0.01564035 -0.05098908 0.00624797
+v 0.01220604 -0.05098909 0.00757048
+v 0.01218587 -0.05098909 0.00757770
+v 0.00665808 -0.05098909 0.00875406
+v 0.00206762 -0.05098909 0.00907342
+v -0.00021364 -0.05098903 -0.00892215
+v 0.00821772 -0.08261027 0.00831191
+v 0.00366140 -0.07462420 0.00836427
+v 0.00417818 -0.07731917 0.00799800
+v 0.01275696 -0.08704994 0.00825235
+v -0.00021364 -0.06692701 0.00587262
+v 0.01564035 -0.08969168 0.00587254
+v 0.01564035 -0.05098904 -0.00628434
+v 0.00201486 -0.05098903 -0.00896545
+v 0.00665808 -0.06990320 -0.00911166
+v -0.00021364 -0.05101564 -0.00892215
+v 0.00781578 -0.08308921 0.00587256
+v 0.00999462 -0.08545348 0.00587256
+v 0.00410058 -0.07746361 0.00587259
+v 0.00550814 -0.07982408 0.00587258
+v 0.01230381 -0.08742243 0.00587255
+v -0.00021364 -0.06749716 0.00193936
+v 0.01564035 -0.08979810 0.00193928
+v 0.01206017 -0.05098903 -0.00762670
+v 0.01564035 -0.08381135 -0.00896196
+v 0.00204124 -0.05098903 -0.00896545
+v 0.00665808 -0.06518226 -0.00902504
+v 0.01127336 -0.07934508 -0.00903772
+v 0.00665808 -0.07462414 -0.00895109
+v -0.00021364 -0.06045752 -0.00884640
+v -0.00021364 -0.05573658 -0.00891674
+v 0.00779095 -0.08312340 0.00193930
+v 0.00994961 -0.08548387 0.00193930
+v 0.01225881 -0.08748704 0.00193929
+v -0.00021364 -0.06747434 -0.00199209
+v 0.00412386 -0.07741036 -0.00199212
+v 0.00549262 -0.07977083 -0.00199213
+v 0.00548486 -0.07978986 0.00193932
+v 0.01564035 -0.08981709 -0.00199217
+v 0.00665808 -0.05098903 -0.00871105
+v 0.01564035 -0.08406603 -0.00893670
+v 0.00663170 -0.05098903 -0.00871285
+v 0.01132923 -0.08404702 -0.00857224
+v 0.00674809 -0.07897259 -0.00846758
+v -0.00021364 -0.06490478 -0.00857217
+v 0.00779871 -0.08312338 -0.00199215
+v 0.00994185 -0.08548765 -0.00199215
+v 0.01224949 -0.08749463 -0.00199216
+v -0.00021364 -0.06656967 -0.00592354
+v 0.00426664 -0.07714807 -0.00796238
+v 0.00417507 -0.07731532 -0.00592358
+v 0.00561367 -0.07967959 -0.00592359
+v 0.01564035 -0.08951299 -0.00599039
+v 0.01240623 -0.08734637 -0.00592362
+v 0.01564035 -0.08771507 -0.00850550
+v 0.00834652 -0.08245817 -0.00825649
+v 0.01290749 -0.08693965 -0.00820599
+v 0.00380728 -0.07462414 -0.00827631
+v 0.00791976 -0.08298273 -0.00592360
+v 0.01009859 -0.08534320 -0.00592361
+v 0.01564035 -0.08936854 -0.00642340
+v 0.01564035 -0.08784430 -0.00847663
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 11
+f 2 11 9
+f 3 10 4
+f 4 10 12
+f 4 12 24
+f 4 24 35
+f 4 35 51
+f 4 51 65
+f 4 65 73
+f 4 73 74
+f 4 74 67
+f 4 67 53
+f 4 53 37
+f 4 37 25
+f 4 25 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 5 17 16
+f 5 16 15
+f 5 15 14
+f 5 14 13
+f 5 13 25
+f 5 25 36
+f 5 36 52
+f 5 52 54
+f 5 54 38
+f 5 38 26
+f 5 26 18
+f 5 18 6
+f 6 18 28
+f 6 28 43
+f 6 43 42
+f 6 42 57
+f 6 57 61
+f 6 61 47
+f 6 47 34
+f 6 34 23
+f 6 23 11
+f 6 11 8
+f 6 8 7
+f 9 19 10
+f 9 11 20
+f 9 20 21
+f 9 21 19
+f 10 22 12
+f 10 19 22
+f 11 23 21
+f 11 21 20
+f 12 22 24
+f 18 26 27
+f 18 27 28
+f 19 29 30
+f 19 30 22
+f 19 21 29
+f 21 31 32
+f 21 32 29
+f 21 23 31
+f 22 30 33
+f 22 33 24
+f 23 34 31
+f 24 33 35
+f 25 37 36
+f 26 38 27
+f 27 38 39
+f 27 39 37
+f 27 37 40
+f 27 40 41
+f 27 41 42
+f 27 42 43
+f 27 43 28
+f 29 32 44
+f 29 44 45
+f 29 45 30
+f 30 45 46
+f 30 46 33
+f 31 34 47
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 32
+f 32 50 44
+f 33 46 35
+f 35 46 51
+f 36 37 52
+f 37 53 40
+f 37 39 38
+f 37 38 54
+f 37 54 52
+f 40 53 55
+f 40 55 41
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 44 50 58
+f 44 58 59
+f 44 59 45
+f 45 59 60
+f 45 60 46
+f 46 60 51
+f 47 61 62
+f 47 62 63
+f 47 63 48
+f 48 63 49
+f 49 64 58
+f 49 58 50
+f 49 63 64
+f 51 60 66
+f 51 66 65
+f 53 67 55
+f 55 68 56
+f 55 67 69
+f 55 69 68
+f 56 68 62
+f 56 62 70
+f 56 70 57
+f 57 70 62
+f 57 62 61
+f 58 64 71
+f 58 71 59
+f 59 72 60
+f 59 71 72
+f 60 72 66
+f 62 68 71
+f 62 71 64
+f 62 64 63
+f 65 66 69
+f 65 69 73
+f 66 72 69
+f 67 74 69
+f 68 69 72
+f 68 72 71
+f 69 74 73
+

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mjcf/mesh/scissors_023_collision_13.obj

@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.02512316 -0.08878993 0.00914251
+v 0.02517419 -0.08878993 0.00914074
+v 0.02030274 -0.08375210 0.00867571
+v 0.02050683 -0.08878993 0.00897629
+v 0.02512316 -0.09201304 0.00851653
+v 0.02517419 -0.09197639 0.00852360
+v 0.02517419 -0.08475416 0.00846351
+v 0.02030274 -0.08878687 0.00895154
+v 0.02030274 -0.08266754 0.00843700
+v 0.02050683 -0.09158534 0.00818409
+v 0.02512316 -0.09306093 0.00587294
+v 0.02517419 -0.09306093 0.00587294
+v 0.02517419 -0.09200998 0.00851653
+v 0.02517419 -0.07934666 0.00646183
+v 0.02030274 -0.06856833 0.00505785
+v 0.02030274 -0.09155173 0.00815580
+v 0.02512316 -0.09342448 0.00194027
+v 0.02517419 -0.09342142 0.00198270
+v 0.02050683 -0.09212301 0.00587294
+v 0.02517419 -0.07489235 0.00474483
+v 0.02030274 -0.06223513 0.00194038
+v 0.02030274 -0.09204664 0.00587294
+v 0.02512316 -0.09343973 -0.00199064
+v 0.02517419 -0.09343973 -0.00194820
+v 0.02517419 -0.09342448 0.00194027
+v 0.02050683 -0.09237963 0.00194027
+v 0.02050683 -0.09240099 -0.00199064
+v 0.02517419 -0.07292486 0.00194034
+v 0.02517419 -0.07301649 -0.00199057
+v 0.02030274 -0.06230843 -0.00045035
+v 0.02030274 -0.09228799 0.00194027
+v 0.02517419 -0.09343973 -0.00199064
+v 0.02030274 -0.09191218 -0.00600112
+v 0.02512316 -0.09295701 -0.00592508
+v 0.02030274 -0.09230630 -0.00199064
+v 0.02030274 -0.09230018 -0.00222405
+v 0.02030274 -0.09211687 -0.00414088
+v 0.02517419 -0.07324869 -0.00251398
+v 0.02030274 -0.06236342 -0.00199053
+v 0.02517419 -0.09295397 -0.00592508
+v 0.02030274 -0.09183580 -0.00630880
+v 0.02141141 -0.09160972 -0.00823093
+v 0.02517419 -0.09189079 -0.00843959
+v 0.02512316 -0.09189079 -0.00843959
+v 0.02517419 -0.07494119 -0.00470313
+v 0.02030274 -0.06373515 -0.00284108
+v 0.02030274 -0.09141419 -0.00791971
+v 0.02030274 -0.08953836 -0.00855982
+v 0.02512316 -0.08878987 -0.00892232
+v 0.02517419 -0.08878987 -0.00892055
+v 0.02030274 -0.08930312 -0.00860580
+v 0.02030274 -0.08919620 -0.00862348
+v 0.02517419 -0.07512755 -0.00479332
+v 0.02030274 -0.06634114 -0.00403468
+v 0.02030274 -0.08388035 -0.00852090
+v 0.02030274 -0.08366344 -0.00849437
+v 0.02517419 -0.08509628 -0.00837236
+v 0.02517419 -0.07938634 -0.00632466
+v 0.02030274 -0.06865688 -0.00504969
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 13
+f 2 13 12
+f 2 12 18
+f 2 18 25
+f 2 25 24
+f 2 24 32
+f 2 32 40
+f 2 40 43
+f 2 43 50
+f 2 50 57
+f 2 57 58
+f 2 58 53
+f 2 53 45
+f 2 45 38
+f 2 38 29
+f 2 29 28
+f 2 28 20
+f 2 20 14
+f 2 14 7
+f 3 8 4
+f 3 7 9
+f 3 9 15
+f 3 15 21
+f 3 21 30
+f 3 30 39
+f 3 39 46
+f 3 46 54
+f 3 54 59
+f 3 59 56
+f 3 56 55
+f 3 55 52
+f 3 52 51
+f 3 51 48
+f 3 48 47
+f 3 47 41
+f 3 41 33
+f 3 33 37
+f 3 37 36
+f 3 36 35
+f 3 35 31
+f 3 31 22
+f 3 22 16
+f 3 16 8
+f 4 8 10
+f 4 10 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 5 10 11
+f 7 14 15
+f 7 15 9
+f 8 16 10
+f 10 16 11
+f 11 17 18
+f 11 18 12
+f 11 16 19
+f 11 19 17
+f 14 20 15
+f 15 20 21
+f 16 22 19
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 17 19 26
+f 17 26 27
+f 17 27 23
+f 19 22 26
+f 20 28 21
+f 21 28 29
+f 21 29 30
+f 22 31 26
+f 23 32 24
+f 23 27 33
+f 23 33 34
+f 23 34 32
+f 26 31 27
+f 27 31 35
+f 27 35 36
+f 27 36 37
+f 27 37 33
+f 29 38 39
+f 29 39 30
+f 32 34 40
+f 33 41 42
+f 33 42 34
+f 34 43 40
+f 34 42 44
+f 34 44 43
+f 38 45 39
+f 39 45 46
+f 41 47 42
+f 42 47 48
+f 42 48 44
+f 43 49 50
+f 43 44 49
+f 44 48 51
+f 44 51 52
+f 44 52 49
+f 45 53 46
+f 46 53 54
+f 49 52 55
+f 49 55 50
+f 50 55 56
+f 50 56 57
+f 53 58 59
+f 53 59 54
+f 56 59 57
+f 57 59 58
+

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mjcf/mesh/scissors_023_collision_2.obj

@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.02565986 -0.08879085 0.00915861
+v -0.02292409 -0.08556902 0.00883307
+v -0.03958831 -0.08382574 0.00864905
+v -0.03027657 -0.08879085 0.00909138
+v -0.03027657 -0.09197215 0.00850394
+v -0.02565986 -0.09201268 0.00851986
+v -0.02292409 -0.09010487 0.00879058
+v -0.02292409 -0.08879085 0.00905068
+v -0.02292409 -0.08407376 0.00858182
+v -0.03958831 -0.08902694 0.00867027
+v -0.03489166 -0.08879085 0.00902237
+v -0.02292409 -0.07654978 0.00641083
+v -0.02292409 -0.07193285 0.00500951
+v -0.03958831 -0.08372797 0.00861897
+v -0.03489166 -0.09169074 0.00830931
+v -0.03027657 -0.09297373 0.00587289
+v -0.02565986 -0.09305960 0.00587289
+v -0.02292409 -0.09217007 0.00722999
+v -0.02292409 -0.09174320 0.00830754
+v -0.03958831 -0.09115177 0.00587290
+v -0.03796186 -0.09138787 0.00805982
+v -0.03950348 -0.08905079 0.00867381
+v -0.02292409 -0.07108148 0.00452294
+v -0.03958831 -0.07569364 0.00474232
+v -0.03958831 -0.07957130 0.00681070
+v -0.03958831 -0.07959276 0.00682132
+v -0.03489166 -0.09237517 0.00587289
+v -0.03027657 -0.09323366 0.00193958
+v -0.02565986 -0.09341254 0.00193958
+v -0.02292409 -0.09262318 0.00426984
+v -0.02292409 -0.09247770 0.00587289
+v -0.03958831 -0.09130438 0.00193958
+v -0.03846431 -0.09156433 0.00587289
+v -0.02292409 -0.06930243 0.00240678
+v -0.03958831 -0.07393605 0.00171848
+v -0.03489166 -0.09256594 0.00193958
+v -0.03027657 -0.09324319 -0.00199196
+v -0.02565986 -0.09342920 -0.00199196
+v -0.02292409 -0.09278292 -0.00199196
+v -0.02292409 -0.09276388 0.00193958
+v -0.03958831 -0.09130915 -0.00037299
+v -0.03863397 -0.09164303 0.00193958
+v -0.02292409 -0.06906634 0.00193967
+v -0.03958831 -0.07394320 0.00144423
+v -0.03489166 -0.09257308 -0.00199196
+v -0.03489166 -0.09226303 -0.00592350
+v -0.03027657 -0.09285446 -0.00592350
+v -0.02565986 -0.09294508 -0.00592350
+v -0.02292409 -0.09234650 -0.00590934
+v -0.03958831 -0.09131152 -0.00199196
+v -0.03864376 -0.09164539 -0.00199196
+v -0.02292409 -0.06919510 -0.00134251
+v -0.03958831 -0.07404096 -0.00173533
+v -0.03829302 -0.09150945 -0.00592350
+v -0.03772205 -0.09131150 -0.00802904
+v -0.03489166 -0.09157144 -0.00823075
+v -0.03027657 -0.09184569 -0.00841654
+v -0.02565986 -0.09188384 -0.00843246
+v -0.02292409 -0.09167400 -0.00827852
+v -0.03958831 -0.09118036 -0.00400726
+v -0.02292409 -0.06923564 -0.00199187
+v -0.03958831 -0.07408151 -0.00188926
+v -0.03958831 -0.09101580 -0.00592349
+v -0.03958831 -0.09087033 -0.00666485
+v -0.03958831 -0.08890765 -0.00854923
+v -0.03935992 -0.08897919 -0.00855277
+v -0.03489166 -0.08879079 -0.00879694
+v -0.03027657 -0.08879079 -0.00886064
+v -0.02565986 -0.08879079 -0.00891726
+v -0.02292409 -0.08901019 -0.00874563
+v -0.02292409 -0.07126030 -0.00443184
+v -0.03958831 -0.07574129 -0.00459287
+v -0.03958831 -0.08874309 -0.00856692
+v -0.03958831 -0.08414286 -0.00852090
+v -0.03958831 -0.08399262 -0.00850674
+v -0.02292409 -0.08438849 -0.00843951
+v -0.03958831 -0.08201087 -0.00773529
+v -0.03958831 -0.07985743 -0.00672497
+v -0.03958831 -0.07971195 -0.00665242
+v -0.03958831 -0.07581523 -0.00466718
+v -0.02292409 -0.07471346 -0.00549701
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 7
+f 2 7 19
+f 2 19 18
+f 2 18 31
+f 2 31 30
+f 2 30 40
+f 2 40 39
+f 2 39 49
+f 2 49 59
+f 2 59 70
+f 2 70 76
+f 2 76 81
+f 2 81 71
+f 2 71 61
+f 2 61 52
+f 2 52 43
+f 2 43 34
+f 2 34 23
+f 2 23 13
+f 2 13 12
+f 2 12 9
+f 3 10 11
+f 3 11 4
+f 3 9 12
+f 3 12 13
+f 3 13 14
+f 3 14 26
+f 3 26 25
+f 3 25 24
+f 3 24 35
+f 3 35 44
+f 3 44 53
+f 3 53 62
+f 3 62 72
+f 3 72 80
+f 3 80 79
+f 3 79 78
+f 3 78 77
+f 3 77 75
+f 3 75 74
+f 3 74 73
+f 3 73 65
+f 3 65 64
+f 3 64 63
+f 3 63 60
+f 3 60 50
+f 3 50 41
+f 3 41 32
+f 3 32 20
+f 3 20 10
+f 4 11 5
+f 5 11 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 15
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 15 21 16
+f 15 22 21
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 16 21 27
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 20 32 33
+f 20 33 21
+f 21 33 27
+f 23 34 24
+f 24 34 35
+f 27 36 28
+f 27 33 36
+f 28 37 38
+f 28 38 29
+f 28 36 37
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 32 41 42
+f 32 42 33
+f 33 42 36
+f 34 43 35
+f 35 43 44
+f 36 42 45
+f 36 45 37
+f 37 45 46
+f 37 46 47
+f 37 47 38
+f 38 48 49
+f 38 49 39
+f 38 47 48
+f 41 50 51
+f 41 51 42
+f 42 51 45
+f 43 52 53
+f 43 53 44
+f 45 51 54
+f 45 54 46
+f 46 54 55
+f 46 55 47
+f 47 55 56
+f 47 56 57
+f 47 57 48
+f 48 58 59
+f 48 59 49
+f 48 57 58
+f 50 60 51
+f 51 60 54
+f 52 61 53
+f 53 61 62
+f 54 60 63
+f 54 63 64
+f 54 64 55
+f 55 64 65
+f 55 65 66
+f 55 66 56
+f 56 66 57
+f 57 66 67
+f 57 67 68
+f 57 68 69
+f 57 69 58
+f 58 69 70
+f 58 70 59
+f 61 71 72
+f 61 72 62
+f 65 67 66
+f 65 73 67
+f 67 73 74
+f 67 74 68
+f 68 74 69
+f 69 74 75
+f 69 75 76
+f 69 76 70
+f 71 77 78
+f 71 78 79
+f 71 79 80
+f 71 80 72
+f 71 81 75
+f 71 75 77
+f 75 81 76
+

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mjcf/mesh/scissors_023_collision_3.obj

@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.05282285 -0.02267788 0.00924009
+v 0.05282285 -0.01795645 0.00922759
+v 0.04895468 -0.01757686 0.00860383
+v 0.04817954 -0.01757686 0.00847336
+v 0.05285850 -0.04740337 0.00882356
+v 0.05743799 -0.04740337 0.00894688
+v 0.05584080 -0.01795645 0.00843760
+v 0.05283598 -0.01757686 0.00918828
+v 0.05743799 -0.04628798 0.00893794
+v 0.05697066 -0.03212367 0.00885756
+v 0.05667975 -0.02739931 0.00882541
+v 0.05632878 -0.02267788 0.00871998
+v 0.04806318 -0.01757686 0.00841080
+v 0.05055187 -0.04740337 0.00782088
+v 0.05985911 -0.04740337 0.00796208
+v 0.05578637 -0.01757686 0.00839472
+v 0.05979342 -0.04295640 0.00789060
+v 0.05836140 -0.02739930 0.00587280
+v 0.05763881 -0.02267787 0.00587282
+v 0.05984785 -0.04628798 0.00795136
+v 0.05723341 -0.03684219 0.00885754
+v 0.04383279 -0.01757685 0.00591216
+v 0.04999257 -0.04740337 0.00748666
+v 0.05996046 -0.04740336 0.00587273
+v 0.05662344 -0.01795644 0.00587283
+v 0.05650708 -0.01757685 0.00587284
+v 0.05993982 -0.04628797 0.00587273
+v 0.05981031 -0.04262353 0.00587274
+v 0.05967706 -0.04026427 0.00587275
+v 0.05939741 -0.03684218 0.00587276
+v 0.05893383 -0.03212366 0.00587278
+v 0.05849653 -0.02739929 0.00193896
+v 0.05774955 -0.02267786 0.00193898
+v 0.04379713 -0.01757685 0.00588714
+v 0.04755268 -0.04740336 0.00595852
+v 0.04820770 -0.04740336 0.00641428
+v 0.05997173 -0.04740333 -0.00199137
+v 0.05670227 -0.01795643 0.00193899
+v 0.05658403 -0.01757684 0.00193900
+v 0.05995108 -0.04628794 -0.00199137
+v 0.05981595 -0.04257970 -0.00199136
+v 0.05969583 -0.04022045 -0.00199135
+v 0.05947624 -0.03684215 -0.00199134
+v 0.05945747 -0.03684217 0.00193892
+v 0.05905582 -0.03212365 0.00193894
+v 0.05907272 -0.03212363 -0.00199132
+v 0.05851154 -0.02739927 -0.00199130
+v 0.05776081 -0.02267784 -0.00199128
+v 0.04079981 -0.01757684 0.00193900
+v 0.04542810 -0.04740336 0.00446613
+v 0.05986474 -0.04740332 -0.00603602
+v 0.05984785 -0.04645729 -0.00606461
+v 0.05671165 -0.01795641 -0.00199127
+v 0.05659341 -0.01757682 -0.00199126
+v 0.05980281 -0.04287460 -0.00484746
+v 0.05921723 -0.03684214 -0.00592339
+v 0.05877993 -0.03212362 -0.00592337
+v 0.05821876 -0.02739926 -0.00592335
+v 0.05750180 -0.02267783 -0.00592333
+v 0.05650896 -0.01795640 -0.00592332
+v 0.04083923 -0.01757682 -0.00199126
+v 0.04489132 -0.04740335 0.00193889
+v 0.05979905 -0.04740331 -0.00709410
+v 0.05968645 -0.04499441 -0.00746943
+v 0.05657652 -0.01757682 -0.00244166
+v 0.05957758 -0.04140590 -0.00606459
+v 0.05571693 -0.01795639 -0.00835761
+v 0.05566625 -0.01757680 -0.00832007
+v 0.05635505 -0.01757681 -0.00620927
+v 0.05639634 -0.01757681 -0.00592331
+v 0.04124838 -0.01757682 -0.00338535
+v 0.04547690 -0.04740332 -0.00442924
+v 0.04506587 -0.04740333 -0.00256330
+v 0.04494012 -0.04740333 -0.00199137
+v 0.04490258 -0.04740334 0.00101129
+v 0.05974275 -0.04740331 -0.00780187
+v 0.05618238 -0.02267782 -0.00862214
+v 0.05282285 -0.01795639 -0.00901891
+v 0.05548420 -0.01757680 -0.00838084
+v 0.04279677 -0.01757681 -0.00522626
+v 0.04820770 -0.04740332 -0.00622368
+v 0.04309519 -0.01757681 -0.00545861
+v 0.05892632 -0.04740331 -0.00819150
+v 0.05679987 -0.03212361 -0.00875623
+v 0.05652209 -0.02739925 -0.00872404
+v 0.05238930 -0.01757680 -0.00899567
+v 0.05283035 -0.01757680 -0.00898673
+v 0.05703635 -0.03684213 -0.00875089
+v 0.05724656 -0.04156648 -0.00873303
+v 0.05282285 -0.02267782 -0.00900284
+v 0.05087656 -0.04740331 -0.00771965
+v 0.04636840 -0.01757680 -0.00747647
+v 0.05826192 -0.04740331 -0.00842563
+v 0.05786403 -0.04645728 -0.00855789
+v 0.04886084 -0.01757680 -0.00856851
+v 0.05777582 -0.04740331 -0.00859364
+v 0.05417980 -0.04740331 -0.00871875
+v 0.05318320 -0.04740331 -0.00871160
+v 0.05142085 -0.04740331 -0.00795378
+v 0.04853051 -0.01757680 -0.00844339
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 7
+f 3 8 16
+f 3 16 26
+f 3 26 39
+f 3 39 54
+f 3 54 65
+f 3 65 70
+f 3 70 69
+f 3 69 68
+f 3 68 79
+f 3 79 87
+f 3 87 86
+f 3 86 95
+f 3 95 100
+f 3 100 92
+f 3 92 82
+f 3 82 80
+f 3 80 71
+f 3 71 61
+f 3 61 49
+f 3 49 34
+f 3 34 22
+f 3 22 13
+f 3 13 4
+f 4 13 14
+f 4 14 5
+f 5 14 23
+f 5 23 36
+f 5 36 35
+f 5 35 50
+f 5 50 62
+f 5 62 75
+f 5 75 74
+f 5 74 73
+f 5 73 72
+f 5 72 81
+f 5 81 91
+f 5 91 99
+f 5 99 98
+f 5 98 97
+f 5 97 96
+f 5 96 93
+f 5 93 83
+f 5 83 76
+f 5 76 63
+f 5 63 51
+f 5 51 37
+f 5 37 24
+f 5 24 15
+f 5 15 6
+f 6 15 9
+f 7 16 8
+f 7 12 17
+f 7 17 18
+f 7 18 19
+f 7 19 16
+f 9 15 20
+f 9 20 21
+f 9 21 10
+f 10 21 20
+f 10 20 17
+f 10 17 11
+f 11 17 12
+f 13 22 14
+f 14 22 23
+f 15 24 20
+f 16 19 25
+f 16 25 26
+f 17 20 24
+f 17 24 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 19
+f 19 32 33
+f 19 33 25
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 24 37 40
+f 24 40 27
+f 25 38 26
+f 25 33 38
+f 26 38 39
+f 27 40 28
+f 28 41 42
+f 28 42 29
+f 28 40 41
+f 29 42 43
+f 29 43 44
+f 29 44 30
+f 30 44 45
+f 30 45 31
+f 31 45 32
+f 32 45 46
+f 32 46 47
+f 32 47 33
+f 33 47 48
+f 33 48 38
+f 34 49 50
+f 34 50 35
+f 37 51 52
+f 37 52 40
+f 38 48 53
+f 38 53 54
+f 38 54 39
+f 40 52 55
+f 40 55 41
+f 41 55 42
+f 42 55 43
+f 43 55 56
+f 43 56 46
+f 43 46 45
+f 43 45 44
+f 46 56 57
+f 46 57 58
+f 46 58 47
+f 47 58 59
+f 47 59 48
+f 48 59 60
+f 48 60 53
+f 49 61 62
+f 49 62 50
+f 51 63 52
+f 52 63 64
+f 52 64 55
+f 53 60 65
+f 53 65 54
+f 55 64 66
+f 55 66 56
+f 56 66 64
+f 56 64 57
+f 57 64 58
+f 58 67 59
+f 58 64 67
+f 59 67 68
+f 59 68 69
+f 59 69 60
+f 60 69 70
+f 60 70 65
+f 61 71 72
+f 61 72 73
+f 61 73 74
+f 61 74 75
+f 61 75 62
+f 63 76 64
+f 64 76 77
+f 64 77 67
+f 67 78 79
+f 67 79 68
+f 67 77 78
+f 71 80 72
+f 72 80 82
+f 72 82 81
+f 76 83 84
+f 76 84 85
+f 76 85 77
+f 77 85 78
+f 78 86 87
+f 78 87 79
+f 78 85 84
+f 78 84 88
+f 78 88 89
+f 78 89 90
+f 78 90 86
+f 81 82 92
+f 81 92 91
+f 83 93 94
+f 83 94 89
+f 83 89 88
+f 83 88 84
+f 86 90 95
+f 89 94 96
+f 89 96 97
+f 89 97 90
+f 90 97 98
+f 90 98 95
+f 91 92 100
+f 91 100 99
+f 93 96 94
+f 95 98 100
+f 98 99 100
+

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mjcf/mesh/scissors_023_collision_4.obj

@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v 0.05282137 -0.07462339 0.00915042
+v 0.04359040 -0.08406689 0.00911148
+v 0.04810270 -0.08405408 0.00864467
+v 0.05279557 -0.07914227 0.00860578
+v 0.05594664 -0.07462339 0.00843782
+v 0.05667290 -0.06989951 0.00876496
+v 0.05719477 -0.06517989 0.00883040
+v 0.05743883 -0.05573638 0.00896483
+v 0.05743883 -0.05101249 0.00897368
+v 0.05743883 -0.04740337 0.00894718
+v 0.05282137 -0.06989951 0.00910446
+v 0.03976467 -0.08386189 0.00872247
+v 0.03976467 -0.08812876 0.00873660
+v 0.03976467 -0.08877370 0.00863404
+v 0.04359040 -0.08762904 0.00854387
+v 0.05285907 -0.04740337 0.00882340
+v 0.05123988 -0.08246949 0.00828572
+v 0.04649542 -0.08684314 0.00815839
+v 0.05538508 -0.07743381 0.00806294
+v 0.05830002 -0.06989950 0.00587211
+v 0.05982793 -0.05957187 0.00792862
+v 0.05789324 -0.06087030 0.00867835
+v 0.05988746 -0.05573638 0.00799053
+v 0.05989143 -0.05101249 0.00799761
+v 0.05985968 -0.04740337 0.00796227
+v 0.03976467 -0.08315714 0.00859516
+v 0.05055133 -0.04740337 0.00782081
+v 0.03976467 -0.09077686 0.00617088
+v 0.04916033 -0.08527990 0.00587206
+v 0.05165261 -0.08291795 0.00587207
+v 0.04015359 -0.09068290 0.00587204
+v 0.04359040 -0.08899152 0.00587204
+v 0.04685259 -0.08709940 0.00587205
+v 0.05396234 -0.08004774 0.00587208
+v 0.05552994 -0.07768579 0.00587208
+v 0.05682370 -0.07462338 0.00587210
+v 0.05927828 -0.06517988 0.00587213
+v 0.05688125 -0.07462337 0.00193953
+v 0.05835360 -0.06989949 0.00193954
+v 0.05971086 -0.06230967 0.00587214
+v 0.05985770 -0.05994772 0.00587215
+v 0.06000652 -0.05573637 0.00587217
+v 0.06002438 -0.05101248 0.00587218
+v 0.05995890 -0.04740336 0.00587220
+v 0.03976467 -0.08150848 0.00792500
+v 0.04999175 -0.04740337 0.00748661
+v 0.04820787 -0.04740336 0.00641328
+v 0.04755305 -0.04740336 0.00595708
+v 0.04542787 -0.04740336 0.00446645
+v 0.03976467 -0.09082812 0.00587204
+v 0.04922582 -0.08534822 0.00193949
+v 0.05170817 -0.08298628 0.00193950
+v 0.04036790 -0.09081956 0.00193947
+v 0.04359040 -0.08918371 0.00193947
+v 0.04691807 -0.08715492 0.00193948
+v 0.05401592 -0.08006909 0.00193951
+v 0.05554978 -0.07771141 0.00193951
+v 0.05836352 -0.06989947 -0.00199126
+v 0.05928820 -0.06517985 -0.00199124
+v 0.05688720 -0.07462335 -0.00199127
+v 0.05969697 -0.06207472 -0.00199123
+v 0.05985373 -0.05971278 -0.00199122
+v 0.06000850 -0.05573634 -0.00199120
+v 0.06003628 -0.05101245 -0.00199119
+v 0.05997080 -0.04740333 -0.00199117
+v 0.03976467 -0.07874931 0.00667133
+v 0.04489012 -0.04740335 0.00193963
+v 0.03976467 -0.07552887 0.00494200
+v 0.03976467 -0.09099041 0.00287841
+v 0.04924368 -0.08536102 -0.00199131
+v 0.05170619 -0.08299907 -0.00199130
+v 0.03976467 -0.09102885 0.00193947
+v 0.03976467 -0.09103737 -0.00199133
+v 0.04037980 -0.09081954 -0.00199133
+v 0.04359040 -0.08919650 -0.00199133
+v 0.04693395 -0.08716771 -0.00199132
+v 0.05401592 -0.08007334 -0.00199129
+v 0.05555375 -0.07771139 -0.00199129
+v 0.05812540 -0.06989946 -0.00592383
+v 0.05907390 -0.06517984 -0.00592381
+v 0.05668282 -0.07462334 -0.00592384
+v 0.05959775 -0.06138706 -0.00592380
+v 0.05547041 -0.07757471 -0.00592385
+v 0.05981007 -0.05902511 -0.00592379
+v 0.05991524 -0.05573633 -0.00592377
+v 0.05993707 -0.05101244 -0.00592376
+v 0.05986563 -0.04740332 -0.00603514
+v 0.04493973 -0.04740333 -0.00199117
+v 0.03976467 -0.07355983 -0.00138830
+v 0.03976467 -0.07338474 0.00164600
+v 0.03976467 -0.07470881 0.00410386
+v 0.04911271 -0.08522433 -0.00592388
+v 0.05157523 -0.08286666 -0.00592387
+v 0.04680299 -0.08706092 -0.00592389
+v 0.03976467 -0.09073411 -0.00592390
+v 0.04004644 -0.09062733 -0.00592390
+v 0.04359040 -0.08889751 -0.00592390
+v 0.05388495 -0.07993238 -0.00592386
+v 0.05529976 -0.07728426 -0.00802983
+v 0.05579980 -0.07462333 -0.00834987
+v 0.05974856 -0.05811963 -0.00789184
+v 0.05976840 -0.05573632 -0.00791128
+v 0.05977634 -0.05101243 -0.00792011
+v 0.05976047 -0.04814650 -0.00790418
+v 0.05979817 -0.04740331 -0.00709432
+v 0.04547747 -0.04740332 -0.00442958
+v 0.03976467 -0.07555872 -0.00483462
+v 0.03976467 -0.07366662 -0.00185512
+v 0.05113670 -0.08238828 -0.00825442
+v 0.04640811 -0.08677475 -0.00813950
+v 0.03976467 -0.08869249 -0.00854267
+v 0.04359040 -0.08751793 -0.00847370
+v 0.05273406 -0.07905251 -0.00850019
+v 0.05282137 -0.07462333 -0.00891394
+v 0.05649034 -0.06989945 -0.00865930
+v 0.05697252 -0.06517983 -0.00871587
+v 0.05779601 -0.05999892 -0.00854079
+v 0.05743883 -0.05573632 -0.00871583
+v 0.05743883 -0.05101243 -0.00872996
+v 0.05777617 -0.04740331 -0.00859379
+v 0.05826034 -0.04740331 -0.00842581
+v 0.05892508 -0.04740331 -0.00819240
+v 0.05974261 -0.04740331 -0.00780162
+v 0.04820787 -0.04740332 -0.00622434
+v 0.03976467 -0.08395152 -0.00856917
+v 0.03976467 -0.08318699 -0.00835168
+v 0.03976467 -0.07950953 -0.00679384
+v 0.04805111 -0.08400277 -0.00854442
+v 0.04359040 -0.08406683 -0.00888923
+v 0.05417863 -0.04740331 -0.00871756
+v 0.05318449 -0.04740331 -0.00871049
+v 0.05087477 -0.04740331 -0.00771851
+v 0.05142045 -0.04740331 -0.00795368
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 3
+f 2 11 10
+f 2 10 16
+f 2 16 12
+f 3 17 4
+f 3 15 18
+f 3 18 17
+f 4 19 5
+f 4 17 19
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 6 21 7
+f 7 21 22
+f 7 22 8
+f 8 22 23
+f 8 23 9
+f 9 23 24
+f 9 24 10
+f 10 24 25
+f 10 25 44
+f 10 44 65
+f 10 65 87
+f 10 87 105
+f 10 105 123
+f 10 123 122
+f 10 122 121
+f 10 121 120
+f 10 120 130
+f 10 130 131
+f 10 131 133
+f 10 133 132
+f 10 132 124
+f 10 124 106
+f 10 106 88
+f 10 88 67
+f 10 67 49
+f 10 49 48
+f 10 48 47
+f 10 47 46
+f 10 46 27
+f 10 27 16
+f 12 26 45
+f 12 45 66
+f 12 66 68
+f 12 68 91
+f 12 91 90
+f 12 90 89
+f 12 89 108
+f 12 108 107
+f 12 107 127
+f 12 127 126
+f 12 126 125
+f 12 125 111
+f 12 111 95
+f 12 95 73
+f 12 73 72
+f 12 72 69
+f 12 69 50
+f 12 50 28
+f 12 28 14
+f 12 14 13
+f 12 16 27
+f 12 27 26
+f 14 28 15
+f 15 28 18
+f 17 18 29
+f 17 29 30
+f 17 30 19
+f 18 28 31
+f 18 31 32
+f 18 32 33
+f 18 33 29
+f 19 30 34
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 20 37 21
+f 20 36 38
+f 20 38 39
+f 20 39 37
+f 21 37 40
+f 21 40 41
+f 21 41 42
+f 21 42 23
+f 21 23 22
+f 23 43 24
+f 23 42 43
+f 24 43 25
+f 25 43 44
+f 26 27 46
+f 26 46 47
+f 26 47 48
+f 26 48 49
+f 26 49 45
+f 28 50 31
+f 29 51 30
+f 29 33 51
+f 30 51 52
+f 30 52 34
+f 31 50 53
+f 31 53 32
+f 32 54 33
+f 32 53 54
+f 33 54 55
+f 33 55 51
+f 34 52 56
+f 34 56 35
+f 35 57 38
+f 35 38 36
+f 35 56 57
+f 37 39 58
+f 37 58 59
+f 37 59 40
+f 38 58 39
+f 38 57 60
+f 38 60 58
+f 40 59 61
+f 40 61 62
+f 40 62 41
+f 41 62 63
+f 41 63 42
+f 42 63 64
+f 42 64 43
+f 43 64 65
+f 43 65 44
+f 45 49 66
+f 49 67 68
+f 49 68 66
+f 50 69 53
+f 51 70 52
+f 51 55 70
+f 52 70 71
+f 52 71 56
+f 53 69 72
+f 53 72 73
+f 53 73 74
+f 53 74 75
+f 53 75 54
+f 54 76 55
+f 54 75 76
+f 55 76 70
+f 56 71 77
+f 56 77 78
+f 56 78 57
+f 57 78 60
+f 58 79 80
+f 58 80 59
+f 58 60 81
+f 58 81 79
+f 59 80 82
+f 59 82 61
+f 60 78 83
+f 60 83 81
+f 61 82 84
+f 61 84 62
+f 62 84 63
+f 63 84 85
+f 63 85 64
+f 64 86 65
+f 64 85 86
+f 65 86 87
+f 67 88 89
+f 67 89 90
+f 67 90 91
+f 67 91 68
+f 70 92 93
+f 70 93 71
+f 70 76 94
+f 70 94 92
+f 71 93 77
+f 73 95 74
+f 74 95 96
+f 74 96 97
+f 74 97 75
+f 75 97 94
+f 75 94 76
+f 77 93 98
+f 77 98 83
+f 77 83 78
+f 79 81 99
+f 79 99 100
+f 79 100 101
+f 79 101 80
+f 80 101 82
+f 81 83 99
+f 82 101 84
+f 83 98 99
+f 84 101 85
+f 85 101 102
+f 85 102 86
+f 86 103 104
+f 86 104 87
+f 86 102 103
+f 87 104 105
+f 88 106 107
+f 88 107 108
+f 88 108 89
+f 92 109 93
+f 92 94 110
+f 92 110 109
+f 93 109 99
+f 93 99 98
+f 94 97 110
+f 95 111 112
+f 95 112 110
+f 95 110 96
+f 96 110 97
+f 99 109 113
+f 99 113 100
+f 100 113 114
+f 100 114 115
+f 100 115 101
+f 101 115 116
+f 101 116 117
+f 101 117 118
+f 101 118 102
+f 102 118 119
+f 102 119 103
+f 103 119 120
+f 103 120 121
+f 103 121 122
+f 103 122 104
+f 104 122 123
+f 104 123 105
+f 106 124 125
+f 106 125 126
+f 106 126 127
+f 106 127 107
+f 109 110 128
+f 109 128 113
+f 110 112 128
+f 111 129 112
+f 111 125 129
+f 112 129 128
+f 113 128 114
+f 114 130 119
+f 114 119 116
+f 114 116 115
+f 114 128 129
+f 114 129 131
+f 114 131 130
+f 116 119 118
+f 116 118 117
+f 119 130 120
+f 124 132 125
+f 125 132 133
+f 125 133 131
+f 125 131 129
+

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mjcf/mesh/scissors_023_collision_5.obj

@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v -0.05335806 -0.07462526 0.00917375
+v -0.05335806 -0.06990424 0.00914726
+v -0.05757685 -0.06676891 0.00882750
+v -0.05723163 -0.06990424 0.00878333
+v -0.05648851 -0.07462526 0.00844588
+v -0.05334441 -0.07914926 0.00862076
+v -0.04867702 -0.08408651 0.00866137
+v -0.04412665 -0.08406969 0.00911718
+v -0.05335806 -0.06676891 0.00902890
+v -0.05950584 -0.06676890 0.00587186
+v -0.05885439 -0.06990423 0.00587185
+v -0.05592288 -0.07744826 0.00806604
+v -0.05179771 -0.08252485 0.00830098
+v -0.04709326 -0.08687587 0.00817906
+v -0.04412665 -0.08768073 0.00856243
+v -0.03959189 -0.08902616 0.00867019
+v -0.03959189 -0.08382463 0.00864901
+v -0.05064501 -0.06676891 0.00804133
+v -0.05951559 -0.06676890 0.00454862
+v -0.05887779 -0.06990422 0.00193924
+v -0.05737206 -0.07462524 0.00193923
+v -0.05734475 -0.07462525 0.00587184
+v -0.05605161 -0.07767168 0.00587182
+v -0.05451467 -0.08003099 0.00587182
+v -0.05220535 -0.08296931 0.00587181
+v -0.04975561 -0.08533102 0.00587180
+v -0.04744825 -0.08713293 0.00587179
+v -0.04412665 -0.08905978 0.00587178
+v -0.04077385 -0.09071755 0.00587178
+v -0.03959189 -0.09115241 0.00587178
+v -0.03959189 -0.08372853 0.00861897
+v -0.04833959 -0.06676890 0.00677463
+v -0.05949998 -0.06676887 -0.00199160
+v -0.05888755 -0.06990420 -0.00199161
+v -0.05737986 -0.07462522 -0.00199162
+v -0.05605356 -0.07765724 -0.00199164
+v -0.05454393 -0.08001654 -0.00199164
+v -0.05454588 -0.08001897 0.00193921
+v -0.05223656 -0.08300534 0.00193920
+v -0.04978486 -0.08536705 0.00193919
+v -0.04747945 -0.08717137 0.00193918
+v -0.04412665 -0.08920633 0.00193917
+v -0.04094354 -0.09082805 0.00193917
+v -0.03959189 -0.09130616 0.00193916
+v -0.03959189 -0.07959133 0.00682052
+v -0.04541394 -0.06676890 0.00480832
+v -0.03959189 -0.07956730 0.00680992
+v -0.05927178 -0.06676886 -0.00592421
+v -0.05863399 -0.06990419 -0.00592422
+v -0.05716531 -0.07462521 -0.00592423
+v -0.05596969 -0.07751788 -0.00592424
+v -0.05439764 -0.07987719 -0.00592425
+v -0.05223461 -0.08300532 -0.00199165
+v -0.04979072 -0.08536703 -0.00199166
+v -0.04748530 -0.08717855 -0.00199167
+v -0.04412665 -0.08921832 -0.00199168
+v -0.04095330 -0.09083044 -0.00199168
+v -0.03959189 -0.09131335 -0.00199169
+v -0.03959189 -0.07569438 0.00474293
+v -0.04416956 -0.06676889 0.00186681
+v -0.05872176 -0.06676885 -0.00683758
+v -0.05629932 -0.07462520 -0.00831984
+v -0.05580976 -0.07724638 -0.00800892
+v -0.05208833 -0.08284915 -0.00592426
+v -0.04965224 -0.08520845 -0.00592427
+v -0.04734487 -0.08707043 -0.00592428
+v -0.04412665 -0.08890838 -0.00592429
+v -0.03959189 -0.09117881 -0.00400745
+v -0.04060417 -0.09063102 -0.00592429
+v -0.03959189 -0.07535082 0.00415462
+v -0.04423393 -0.06676888 -0.00085210
+v -0.03959189 -0.07393810 0.00171839
+v -0.03959189 -0.07394291 0.00144456
+v -0.03959189 -0.07404139 -0.00173545
+v -0.05733110 -0.06676885 -0.00868729
+v -0.05700148 -0.06990418 -0.00863960
+v -0.05335806 -0.07462520 -0.00887458
+v -0.05325469 -0.07903148 -0.00846649
+v -0.05164558 -0.08236382 -0.00823330
+v -0.04694698 -0.08678211 -0.00813969
+v -0.03959189 -0.09101542 -0.00592429
+v -0.03959189 -0.09086887 -0.00666453
+v -0.04425928 -0.06676887 -0.00190680
+v -0.03959189 -0.07408224 -0.00188915
+v -0.05610427 -0.06676885 -0.00875089
+v -0.05335806 -0.06990418 -0.00883040
+v -0.04412665 -0.08406963 -0.00886402
+v -0.04858925 -0.08399034 -0.00852128
+v -0.04412665 -0.08751970 -0.00846829
+v -0.03959189 -0.08890837 -0.00854780
+v -0.04490293 -0.06676887 -0.00372294
+v -0.03959189 -0.07574239 -0.00459217
+v -0.05311036 -0.06676885 -0.00863429
+v -0.03959189 -0.08414411 -0.00852128
+v -0.03959189 -0.08874260 -0.00856724
+v -0.04550951 -0.06676886 -0.00473171
+v -0.03959189 -0.07581687 -0.00466637
+v -0.05233799 -0.06676885 -0.00842052
+v -0.03959189 -0.08399275 -0.00850715
+v -0.04800997 -0.06676886 -0.00626695
+v -0.03959189 -0.07971141 -0.00665212
+v -0.03959189 -0.07985556 -0.00672456
+v -0.03959189 -0.08201064 -0.00773510
+v -0.05105850 -0.06676885 -0.00788699
+v -0.04894618 -0.06676885 -0.00682875
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 9
+f 3 9 18
+f 3 18 32
+f 3 32 46
+f 3 46 60
+f 3 60 71
+f 3 71 83
+f 3 83 91
+f 3 91 96
+f 3 96 100
+f 3 100 105
+f 3 105 104
+f 3 104 98
+f 3 98 93
+f 3 93 85
+f 3 85 75
+f 3 75 61
+f 3 61 48
+f 3 48 33
+f 3 33 19
+f 3 19 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 12 22 23
+f 13 25 26
+f 13 26 14
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 14 26 27
+f 15 30 16
+f 16 30 44
+f 16 44 58
+f 16 58 68
+f 16 68 81
+f 16 81 82
+f 16 82 90
+f 16 90 95
+f 16 95 94
+f 16 94 99
+f 16 99 103
+f 16 103 102
+f 16 102 101
+f 16 101 97
+f 16 97 92
+f 16 92 84
+f 16 84 74
+f 16 74 73
+f 16 73 72
+f 16 72 70
+f 16 70 59
+f 16 59 47
+f 16 47 45
+f 16 45 31
+f 16 31 17
+f 17 31 18
+f 18 31 32
+f 19 33 34
+f 19 34 20
+f 20 34 21
+f 21 34 35
+f 21 35 23
+f 21 23 22
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 24 38 39
+f 24 39 25
+f 25 39 26
+f 26 40 41
+f 26 41 27
+f 26 39 40
+f 27 41 42
+f 27 42 28
+f 28 42 43
+f 28 43 29
+f 29 43 30
+f 30 43 44
+f 31 45 32
+f 32 45 47
+f 32 47 46
+f 33 48 34
+f 34 48 49
+f 34 49 50
+f 34 50 35
+f 35 50 51
+f 35 51 36
+f 36 51 37
+f 37 51 52
+f 37 52 53
+f 37 53 38
+f 38 53 39
+f 39 53 54
+f 39 54 40
+f 40 54 55
+f 40 55 41
+f 41 55 56
+f 41 56 42
+f 42 56 43
+f 43 56 57
+f 43 57 58
+f 43 58 44
+f 46 59 60
+f 46 47 59
+f 48 61 62
+f 48 62 49
+f 49 62 63
+f 49 63 50
+f 50 63 51
+f 51 63 52
+f 52 64 53
+f 52 63 64
+f 53 64 65
+f 53 65 54
+f 54 65 66
+f 54 66 55
+f 55 66 56
+f 56 66 67
+f 56 67 57
+f 57 68 58
+f 57 67 69
+f 57 69 68
+f 59 70 60
+f 60 70 72
+f 60 72 73
+f 60 73 74
+f 60 74 71
+f 61 75 76
+f 61 76 62
+f 62 76 77
+f 62 77 78
+f 62 78 63
+f 63 78 79
+f 63 79 64
+f 64 79 65
+f 65 80 66
+f 65 79 80
+f 66 80 67
+f 67 80 69
+f 68 69 81
+f 69 80 82
+f 69 82 81
+f 71 74 83
+f 74 84 83
+f 75 85 77
+f 75 77 76
+f 77 85 86
+f 77 86 87
+f 77 87 88
+f 77 88 78
+f 78 88 79
+f 79 88 80
+f 80 89 82
+f 80 88 89
+f 82 89 90
+f 83 84 91
+f 84 92 91
+f 85 93 86
+f 86 93 94
+f 86 94 87
+f 87 94 95
+f 87 95 89
+f 87 89 88
+f 89 95 90
+f 91 92 96
+f 92 97 96
+f 93 98 99
+f 93 99 94
+f 96 97 101
+f 96 101 102
+f 96 102 103
+f 96 103 100
+f 98 104 99
+f 99 104 105
+f 99 105 103
+f 100 103 105
+

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mjcf/mesh/scissors_023_collision_6.obj

@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v -0.02292409 0.01239093 0.00193979
+v -0.02292409 0.01177312 0.00587213
+v -0.02292409 0.01235331 -0.00199076
+v -0.03489410 0.00583661 -0.00199079
+v -0.03833786 0.00395499 -0.00199080
+v -0.03834465 0.00396124 0.00193975
+v -0.03815125 0.00384206 0.00587210
+v -0.03489410 0.00556688 0.00587211
+v -0.03143678 0.00738265 0.00587212
+v -0.02912624 0.00859317 0.00587212
+v -0.02292409 0.01154418 0.00631541
+v -0.02859356 0.00831405 0.00808496
+v -0.02292409 0.01162262 -0.00592312
+v -0.02898713 0.00852735 -0.00592313
+v -0.03802571 0.00376683 -0.00592315
+v -0.04064500 0.00257826 -0.00199080
+v -0.04064840 0.00257824 0.00193975
+v -0.03770679 0.00357862 0.00807421
+v -0.04045500 0.00242457 0.00587210
+v -0.02292409 0.00982876 0.00856578
+v -0.03489410 0.00429050 0.00846031
+v -0.02566213 0.00895694 0.00844780
+v -0.02292409 0.00971906 -0.00849880
+v -0.02841713 0.00822943 -0.00805911
+v -0.03754732 0.00349087 -0.00804483
+v -0.04032947 0.00233679 -0.00592315
+v -0.04379358 -0.00002465 -0.00592316
+v -0.04405144 0.00021682 -0.00199081
+v -0.04406162 0.00021680 0.00193974
+v -0.04391912 0.00006312 0.00587209
+v -0.04622965 -0.00159898 0.00587208
+v -0.04312519 -0.00053587 0.00838700
+v -0.03018821 0.00580835 0.00868552
+v -0.02292409 0.00841440 0.00886070
+v -0.03935232 0.00099765 0.00867299
+v -0.02292409 0.00565787 -0.00898143
+v -0.02566213 0.00565787 -0.00899573
+v -0.03008303 0.00574255 -0.00860428
+v -0.02566213 0.00882215 -0.00838799
+v -0.03489410 0.00414003 -0.00838622
+v -0.04296912 -0.00064871 -0.00834334
+v -0.04610412 -0.00171184 -0.00592317
+v -0.04636198 -0.00148605 -0.00199082
+v -0.04636876 -0.00147980 0.00193973
+v -0.04917805 -0.00436811 0.00595786
+v -0.05101020 -0.00618703 0.00732525
+v -0.04792948 -0.00476640 0.00848171
+v -0.04444840 -0.00343358 0.00884636
+v -0.03489410 0.00093493 0.00913772
+v -0.02566213 0.00565781 0.00913417
+v -0.02292409 0.00565781 0.00911093
+v -0.02292409 0.00198243 -0.00832009
+v -0.05335806 -0.01964688 -0.00897795
+v -0.05335806 -0.01795341 -0.00898152
+v -0.03489410 0.00093499 -0.00896358
+v -0.03925732 0.00092872 -0.00857213
+v -0.04435340 -0.00351819 -0.00872407
+v -0.04776323 -0.00490746 -0.00842558
+v -0.05084055 -0.00637199 -0.00686337
+v -0.04907627 -0.00446215 -0.00570154
+v -0.05108484 -0.00610544 -0.00424121
+v -0.04874037 -0.00377537 -0.00199082
+v -0.04874037 -0.00376598 0.00193973
+v -0.05108823 -0.00610234 0.00470309
+v -0.05241484 -0.00805924 0.00595785
+v -0.05503752 -0.01212982 0.00587205
+v -0.05595020 -0.01489269 0.00810811
+v -0.05211627 -0.00933562 0.00847098
+v -0.04917805 -0.00805925 0.00888566
+v -0.05335806 -0.01795347 0.00925741
+v -0.05335806 -0.01964694 0.00926456
+v -0.02292409 0.00401767 0.00886247
+v -0.02292409 0.00058376 -0.00788933
+v -0.04980573 -0.01964688 -0.00843457
+v -0.05639467 -0.01964688 -0.00843278
+v -0.05345984 -0.01341555 -0.00862223
+v -0.04907627 -0.00816895 -0.00874375
+v -0.05198734 -0.00951745 -0.00840772
+v -0.05585520 -0.01511215 -0.00806098
+v -0.05492556 -0.01231167 -0.00592321
+v -0.05232663 -0.00816896 -0.00570155
+v -0.05284913 -0.00850766 -0.00199084
+v -0.05110859 -0.00608036 -0.00199083
+v -0.05111198 -0.00607411 0.00193972
+v -0.05286609 -0.00850768 0.00193971
+v -0.05511217 -0.01208278 0.00193970
+v -0.05611306 -0.01449127 0.00587204
+v -0.05715128 -0.01795346 0.00587202
+v -0.05751092 -0.01964693 0.00587202
+v -0.05701217 -0.01964694 0.00752181
+v -0.05637431 -0.01795347 0.00844413
+v -0.05353788 -0.01328390 0.00876410
+v -0.05461342 -0.01964694 0.00906794
+v -0.05059287 -0.01964694 0.00881949
+v -0.02292409 0.00126108 0.00832444
+v -0.02292409 -0.00037901 -0.00746929
+v -0.04749859 -0.01964688 -0.00733172
+v -0.02292409 -0.00253348 -0.00650051
+v -0.05735485 -0.01964689 -0.00592323
+v -0.05622842 -0.01795341 -0.00833805
+v -0.05699860 -0.01795342 -0.00592323
+v -0.05604181 -0.01467312 -0.00592321
+v -0.05509860 -0.01209843 -0.00199085
+v -0.05613342 -0.01445988 -0.00199086
+v -0.05613342 -0.01444422 0.00193969
+v -0.05721235 -0.01795345 0.00193967
+v -0.05758556 -0.01964692 0.00193967
+v -0.05754485 -0.01964693 0.00446352
+v -0.05654735 -0.01964694 0.00854422
+v -0.04920859 -0.01964694 0.00845664
+v -0.02292409 0.00018228 0.00784541
+v -0.04439412 -0.01964689 -0.00532801
+v -0.02292409 -0.00384749 -0.00563003
+v -0.05757878 -0.01964690 -0.00199088
+v -0.05720896 -0.01795343 -0.00199088
+v -0.04769537 -0.01964694 0.00762906
+v -0.02292409 -0.00381617 0.00586672
+v -0.04261626 -0.01964690 -0.00199088
+v -0.02292409 -0.00519286 -0.00199083
+v -0.04721019 -0.01964694 0.00735737
+v -0.02292409 -0.00448101 0.00416507
+v -0.04568680 -0.01964693 0.00638501
+v -0.04466555 -0.01964693 0.00559675
+v -0.04276554 -0.01964692 0.00228643
+v -0.04260947 -0.01964690 -0.00151722
+v -0.02292409 -0.00520856 0.00193972
+v -0.04260608 -0.01964692 0.00193967
+f 1 2 11
+f 1 11 20
+f 1 20 34
+f 1 34 51
+f 1 51 72
+f 1 72 95
+f 1 95 111
+f 1 111 117
+f 1 117 121
+f 1 121 126
+f 1 126 119
+f 1 119 113
+f 1 113 98
+f 1 98 96
+f 1 96 73
+f 1 73 52
+f 1 52 36
+f 1 36 23
+f 1 23 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 12
+f 2 12 11
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 7
+f 7 18 8
+f 7 17 19
+f 7 19 18
+f 8 18 9
+f 9 18 10
+f 10 18 12
+f 11 12 20
+f 12 18 21
+f 12 21 22
+f 12 22 20
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 19
+f 18 19 30
+f 18 30 31
+f 18 31 32
+f 18 32 21
+f 20 22 33
+f 20 33 34
+f 21 32 35
+f 21 35 33
+f 21 33 22
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 24 40 25
+f 24 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 27
+f 25 27 26
+f 27 42 28
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 44 31
+f 29 31 30
+f 31 44 45
+f 31 45 46
+f 31 46 32
+f 32 46 47
+f 32 47 48
+f 32 48 35
+f 33 35 49
+f 33 49 50
+f 33 50 34
+f 34 50 51
+f 35 48 49
+f 36 52 53
+f 36 53 37
+f 37 53 54
+f 37 54 55
+f 37 55 38
+f 38 55 56
+f 38 56 40
+f 38 40 39
+f 40 56 41
+f 41 57 58
+f 41 58 59
+f 41 59 42
+f 41 56 57
+f 42 59 60
+f 42 60 61
+f 42 61 43
+f 43 61 62
+f 43 62 44
+f 44 62 63
+f 44 63 64
+f 44 64 45
+f 45 64 46
+f 46 64 65
+f 46 65 66
+f 46 66 67
+f 46 67 68
+f 46 68 47
+f 47 68 69
+f 47 69 48
+f 48 69 49
+f 49 69 70
+f 49 70 50
+f 50 70 71
+f 50 71 51
+f 51 71 72
+f 52 73 74
+f 52 74 53
+f 53 74 97
+f 53 97 112
+f 53 112 118
+f 53 118 125
+f 53 125 127
+f 53 127 124
+f 53 124 123
+f 53 123 122
+f 53 122 120
+f 53 120 116
+f 53 116 110
+f 53 110 94
+f 53 94 71
+f 53 71 93
+f 53 93 109
+f 53 109 90
+f 53 90 89
+f 53 89 108
+f 53 108 107
+f 53 107 114
+f 53 114 99
+f 53 99 75
+f 53 75 54
+f 54 75 76
+f 54 76 77
+f 54 77 55
+f 55 77 57
+f 55 57 56
+f 57 77 58
+f 58 77 78
+f 58 78 59
+f 59 78 79
+f 59 79 80
+f 59 80 81
+f 59 81 61
+f 59 61 60
+f 61 81 82
+f 61 82 83
+f 61 83 62
+f 62 83 84
+f 62 84 63
+f 63 84 64
+f 64 84 85
+f 64 85 65
+f 65 85 66
+f 66 86 87
+f 66 87 67
+f 66 85 86
+f 67 87 88
+f 67 88 89
+f 67 89 90
+f 67 90 91
+f 67 91 92
+f 67 92 68
+f 68 92 69
+f 69 92 70
+f 70 92 91
+f 70 91 93
+f 70 93 71
+f 71 94 72
+f 72 94 95
+f 73 96 74
+f 74 96 98
+f 74 98 97
+f 75 99 100
+f 75 100 76
+f 76 78 77
+f 76 100 79
+f 76 79 78
+f 79 100 99
+f 79 99 101
+f 79 101 102
+f 79 102 80
+f 80 102 103
+f 80 103 82
+f 80 82 81
+f 82 85 83
+f 82 103 86
+f 82 86 85
+f 83 85 84
+f 86 103 104
+f 86 104 105
+f 86 105 87
+f 87 105 106
+f 87 106 88
+f 88 106 107
+f 88 107 108
+f 88 108 89
+f 90 109 91
+f 91 109 93
+f 94 110 95
+f 95 110 111
+f 97 98 113
+f 97 113 112
+f 99 114 101
+f 101 114 115
+f 101 115 102
+f 102 104 103
+f 102 115 104
+f 104 115 105
+f 105 115 106
+f 106 115 107
+f 107 115 114
+f 110 116 117
+f 110 117 111
+f 112 113 118
+f 113 119 118
+f 116 120 117
+f 117 120 122
+f 117 122 123
+f 117 123 124
+f 117 124 121
+f 118 119 125
+f 119 126 125
+f 121 124 127
+f 121 127 126
+f 125 126 127
+

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mjcf/mesh/scissors_023_collision_7.obj

@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v -0.05335780 -0.02267739 0.00927544
+v -0.05059494 -0.01964694 0.00881983
+v -0.05335780 -0.01964694 0.00926294
+v -0.05797486 -0.05100777 0.00901089
+v -0.05797486 -0.05573104 0.00899837
+v -0.05335780 -0.06676430 0.00902869
+v -0.04921352 -0.01964694 0.00845533
+v -0.05461268 -0.01964694 0.00906640
+v -0.05721384 -0.02740067 0.00884124
+v -0.05750735 -0.03212393 0.00887874
+v -0.05797486 -0.04628912 0.00897160
+v -0.06043893 -0.05100777 0.00801031
+v -0.06043366 -0.05573104 0.00800315
+v -0.05843357 -0.06090634 0.00869818
+v -0.05775165 -0.06517758 0.00885003
+v -0.05757590 -0.06676430 0.00882679
+v -0.05064767 -0.06676430 0.00804062
+v -0.04769852 -0.01964694 0.00762985
+v -0.05654949 -0.01964694 0.00854467
+v -0.05685882 -0.02267739 0.00872690
+v -0.06032996 -0.04299113 0.00789062
+v -0.06038972 -0.04628912 0.00795672
+v -0.05776747 -0.03684720 0.00888408
+v -0.06056372 -0.05100776 0.00587335
+v -0.06054614 -0.05573103 0.00587334
+v -0.06037214 -0.05962865 0.00793702
+v -0.05950743 -0.06676429 0.00587329
+v -0.04833826 -0.06676429 0.00677560
+v -0.04721343 -0.01964694 0.00735826
+v -0.05701348 -0.01964694 0.00752264
+v -0.06019990 -0.04047266 0.00587339
+v -0.06033699 -0.04283429 0.00587338
+v -0.06046705 -0.04628911 0.00587337
+v -0.05888702 -0.02740066 0.00587344
+v -0.05945471 -0.03212392 0.00587342
+v -0.05990991 -0.03684719 0.00587340
+v -0.06044596 -0.04628908 -0.00199191
+v -0.06054087 -0.05100773 -0.00199193
+v -0.06051978 -0.05573100 -0.00199194
+v -0.06039499 -0.05996997 0.00587332
+v -0.06025087 -0.06233161 0.00587331
+v -0.05983785 -0.06517757 0.00587330
+v -0.05951447 -0.06676429 0.00454931
+v -0.04541371 -0.06676429 0.00480839
+v -0.04568789 -0.01964693 0.00638448
+v -0.05751087 -0.01964693 0.00587347
+v -0.05815588 -0.02267738 0.00587346
+v -0.06020518 -0.04069865 -0.00199189
+v -0.05994330 -0.03684718 0.00193898
+v -0.05995912 -0.03684716 -0.00199188
+v -0.06032821 -0.04306028 -0.00199190
+v -0.05900302 -0.02740065 0.00193902
+v -0.05955137 -0.03212391 0.00193900
+v -0.06032293 -0.04317097 -0.00458984
+v -0.06037917 -0.04628907 -0.00540639
+v -0.06041081 -0.05057876 -0.00631051
+v -0.06040378 -0.05611845 -0.00629981
+v -0.06035984 -0.05924576 -0.00523849
+v -0.06037917 -0.05956865 -0.00199196
+v -0.06022627 -0.06193029 -0.00199197
+v -0.05981149 -0.06517754 -0.00199198
+v -0.05950040 -0.06676426 -0.00199199
+v -0.04416937 -0.06676428 0.00186561
+v -0.04260868 -0.01964692 0.00193905
+v -0.04276861 -0.01964692 0.00228746
+v -0.04466676 -0.01964693 0.00559831
+v -0.05754602 -0.01964693 0.00446372
+v -0.05825079 -0.02267737 0.00193904
+v -0.05956016 -0.03212389 -0.00199186
+v -0.05900302 -0.02740063 -0.00199184
+v -0.05969022 -0.03684715 -0.00592452
+v -0.06006809 -0.04158425 -0.00591024
+v -0.06020869 -0.04628906 -0.00737182
+v -0.06028075 -0.04871988 -0.00787927
+v -0.06030184 -0.05186565 -0.00790965
+v -0.06030184 -0.05479924 -0.00790966
+v -0.06027899 -0.05794501 -0.00786143
+v -0.06015772 -0.06067566 -0.00629982
+v -0.05959531 -0.06517753 -0.00592462
+v -0.05927192 -0.06676425 -0.00592463
+v -0.04425901 -0.06676426 -0.00190622
+v -0.04261746 -0.01964690 -0.00199181
+v -0.04261395 -0.01964690 -0.00151832
+v -0.05758468 -0.01964692 0.00193905
+v -0.05824552 -0.02267735 -0.00199182
+v -0.05758293 -0.01964691 0.00052930
+v -0.05925435 -0.03212388 -0.00592450
+v -0.05870248 -0.02740062 -0.00592448
+v -0.05798716 -0.02267734 -0.00592446
+v -0.05669537 -0.02267733 -0.00860280
+v -0.05703106 -0.02740061 -0.00870645
+v -0.05729820 -0.03212387 -0.00874042
+v -0.05753196 -0.03684714 -0.00873865
+v -0.05773759 -0.04157040 -0.00872437
+v -0.05790104 -0.04628906 -0.00870652
+v -0.05843533 -0.05057875 -0.00854752
+v -0.05843357 -0.05611844 -0.00854575
+v -0.05783953 -0.06045425 -0.00870478
+v -0.05749681 -0.06517752 -0.00871016
+v -0.05733160 -0.06676424 -0.00868695
+v -0.05872181 -0.06676424 -0.00683766
+v -0.04490402 -0.06676426 -0.00372335
+v -0.04439609 -0.01964689 -0.00532767
+v -0.05757941 -0.01964690 -0.00199181
+v -0.05735444 -0.01964689 -0.00592445
+v -0.05639659 -0.01964688 -0.00843305
+v -0.05335780 -0.01964688 -0.00897801
+v -0.05610484 -0.06676424 -0.00875127
+v -0.04551038 -0.06676425 -0.00473108
+v -0.04750167 -0.01964688 -0.00733241
+v -0.04980932 -0.01964688 -0.00843484
+v -0.05335780 -0.02267733 -0.00896908
+v -0.05370052 -0.06045425 -0.00870478
+v -0.05310998 -0.06676424 -0.00863335
+v -0.04800960 -0.06676425 -0.00626769
+v -0.04894461 -0.06676424 -0.00682873
+v -0.05106069 -0.06676424 -0.00788648
+v -0.05233842 -0.06676424 -0.00841893
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 18
+f 2 18 29
+f 2 29 45
+f 2 45 66
+f 2 66 65
+f 2 65 64
+f 2 64 83
+f 2 83 82
+f 2 82 103
+f 2 103 110
+f 2 110 111
+f 2 111 107
+f 2 107 106
+f 2 106 105
+f 2 105 104
+f 2 104 86
+f 2 86 84
+f 2 84 67
+f 2 67 46
+f 2 46 30
+f 2 30 19
+f 2 19 8
+f 2 8 3
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 12 13
+f 4 13 5
+f 4 11 12
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 27
+f 6 27 43
+f 6 43 62
+f 6 62 80
+f 6 80 101
+f 6 101 100
+f 6 100 108
+f 6 108 114
+f 6 114 118
+f 6 118 117
+f 6 117 116
+f 6 116 115
+f 6 115 109
+f 6 109 102
+f 6 102 81
+f 6 81 63
+f 6 63 44
+f 6 44 28
+f 6 28 17
+f 6 17 7
+f 7 17 18
+f 8 19 20
+f 8 20 9
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 23 22
+f 11 22 12
+f 12 24 13
+f 12 22 24
+f 13 25 26
+f 13 26 14
+f 13 24 25
+f 14 26 15
+f 15 26 16
+f 16 26 27
+f 17 28 18
+f 18 28 29
+f 19 30 21
+f 19 21 20
+f 21 31 32
+f 21 32 33
+f 21 33 24
+f 21 24 22
+f 21 30 34
+f 21 34 35
+f 21 35 36
+f 21 36 31
+f 24 33 37
+f 24 37 38
+f 24 38 25
+f 25 39 40
+f 25 40 26
+f 25 38 39
+f 26 40 41
+f 26 41 42
+f 26 42 27
+f 27 42 43
+f 28 44 45
+f 28 45 29
+f 30 46 47
+f 30 47 34
+f 31 48 32
+f 31 36 49
+f 31 49 50
+f 31 50 48
+f 32 48 51
+f 32 51 33
+f 33 51 37
+f 34 47 52
+f 34 52 35
+f 35 53 36
+f 35 52 53
+f 36 53 49
+f 37 51 54
+f 37 54 55
+f 37 55 38
+f 38 55 56
+f 38 56 57
+f 38 57 39
+f 39 57 58
+f 39 58 59
+f 39 59 40
+f 40 59 41
+f 41 60 61
+f 41 61 42
+f 41 59 60
+f 42 61 62
+f 42 62 43
+f 44 63 64
+f 44 64 65
+f 44 65 66
+f 44 66 45
+f 46 67 47
+f 47 68 52
+f 47 67 68
+f 48 54 51
+f 48 50 54
+f 49 53 50
+f 50 53 69
+f 50 69 54
+f 52 70 69
+f 52 69 53
+f 52 68 70
+f 54 69 71
+f 54 71 72
+f 54 72 73
+f 54 73 74
+f 54 74 55
+f 55 74 56
+f 56 74 75
+f 56 75 76
+f 56 76 57
+f 57 76 77
+f 57 77 58
+f 58 77 78
+f 58 78 60
+f 58 60 59
+f 60 78 61
+f 61 78 79
+f 61 79 62
+f 62 79 80
+f 63 81 82
+f 63 82 83
+f 63 83 64
+f 67 84 68
+f 68 85 70
+f 68 84 86
+f 68 86 85
+f 69 87 71
+f 69 70 88
+f 69 88 87
+f 70 85 89
+f 70 89 88
+f 71 87 73
+f 71 73 72
+f 73 87 74
+f 74 87 88
+f 74 88 90
+f 74 90 91
+f 74 91 92
+f 74 92 93
+f 74 93 94
+f 74 94 75
+f 75 94 95
+f 75 95 96
+f 75 96 76
+f 76 96 97
+f 76 97 98
+f 76 98 77
+f 77 98 99
+f 77 99 100
+f 77 100 101
+f 77 101 80
+f 77 80 79
+f 77 79 78
+f 81 102 82
+f 82 102 103
+f 85 86 104
+f 85 104 105
+f 85 105 89
+f 88 89 106
+f 88 106 90
+f 89 105 106
+f 90 106 107
+f 90 107 91
+f 91 107 92
+f 92 107 93
+f 93 107 94
+f 94 107 98
+f 94 98 95
+f 95 98 97
+f 95 97 96
+f 98 107 99
+f 99 107 108
+f 99 108 100
+f 102 109 103
+f 103 109 110
+f 107 111 112
+f 107 112 108
+f 108 112 113
+f 108 113 114
+f 109 115 110
+f 110 115 116
+f 110 116 117
+f 110 117 111
+f 111 117 118
+f 111 118 114
+f 111 114 112
+f 112 114 113
+

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mjcf/mesh/scissors_023_collision_8.obj

@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.02030275 0.01830341 0.00194000
+v 0.02030275 0.01829288 -0.00071559
+v 0.02030275 0.01418748 0.00605757
+v 0.02800782 0.00829454 0.00806535
+v 0.03713028 0.00355350 0.00805101
+v 0.04336112 0.00004515 0.00587321
+v 0.04567016 -0.00161597 0.00587320
+v 0.04583357 -0.00147548 0.00193992
+v 0.04582646 -0.00147897 -0.00199157
+v 0.02030275 0.01828587 -0.00199149
+v 0.02030275 0.01053863 0.00858431
+v 0.02512685 0.00892316 0.00841609
+v 0.03435944 0.00424183 0.00841608
+v 0.04256184 -0.00055890 0.00836237
+v 0.05044098 -0.00622005 0.00708287
+v 0.04862217 -0.00439035 0.00581234
+v 0.05054755 -0.00610766 0.00446129
+v 0.04820299 -0.00377576 0.00193992
+v 0.04820299 -0.00378277 -0.00199157
+v 0.05054400 -0.00611113 -0.00424274
+v 0.04557069 -0.00170372 -0.00592484
+v 0.02030275 0.01687760 -0.00346961
+v 0.04326166 -0.00002505 -0.00592483
+v 0.03701305 0.00349035 -0.00804357
+v 0.02030275 0.01048595 0.00861652
+v 0.02962414 0.00578355 0.00863618
+v 0.02031696 0.01046488 0.00862010
+v 0.03878568 0.00097930 0.00862721
+v 0.04389398 -0.00344567 0.00880436
+v 0.04736463 -0.00479071 0.00845898
+v 0.05156352 -0.00937020 0.00845360
+v 0.05540718 -0.01491194 0.00810106
+v 0.05448356 -0.01214809 0.00587317
+v 0.05186192 -0.00808133 0.00581233
+v 0.05231307 -0.00850626 0.00193990
+v 0.05056531 -0.00608658 0.00193991
+v 0.05056531 -0.00608656 -0.00199158
+v 0.05032375 -0.00634993 -0.00686433
+v 0.04855112 -0.00446055 -0.00570117
+v 0.05230597 -0.00850624 -0.00199159
+v 0.05179443 -0.00815504 -0.00570118
+v 0.04243751 -0.00064313 -0.00834421
+v 0.02030275 0.01451412 -0.00592478
+v 0.03435944 0.00414005 -0.00838714
+v 0.02789059 0.00823841 -0.00806681
+v 0.02030275 0.01045434 0.00862189
+v 0.03435944 0.00093364 0.00906206
+v 0.02512685 0.00565712 0.00906566
+v 0.04862217 -0.00808134 0.00885087
+v 0.05299157 -0.01329297 0.00873990
+v 0.05578728 -0.01757394 0.00839452
+v 0.05650486 -0.01757393 0.00587315
+v 0.05557059 -0.01450807 0.00587316
+v 0.05456882 -0.01208135 0.00193989
+v 0.05439831 -0.01227447 -0.00592488
+v 0.05533613 -0.01507694 -0.00807585
+v 0.05146050 -0.00949657 -0.00841403
+v 0.04724385 -0.00490303 -0.00842834
+v 0.05456172 -0.01208484 -0.00199160
+v 0.04382293 -0.00350882 -0.00872717
+v 0.03871819 0.00093019 -0.00857147
+v 0.02030275 0.01344652 -0.00691079
+v 0.02955665 0.00574146 -0.00861082
+v 0.02030275 0.01047547 -0.00865554
+v 0.02512685 0.00884947 -0.00840860
+v 0.02030275 0.00565712 0.00905134
+v 0.05283527 -0.01757394 0.00918905
+v 0.05658301 -0.01757392 0.00193987
+v 0.05560256 -0.01444484 0.00193988
+v 0.05560611 -0.01444482 -0.00199161
+v 0.05552441 -0.01463445 -0.00592488
+v 0.05548533 -0.01757388 -0.00838185
+v 0.05292763 -0.01339475 -0.00864131
+v 0.05635566 -0.01757389 -0.00620763
+v 0.05566650 -0.01757388 -0.00832101
+v 0.04855112 -0.00815503 -0.00875761
+v 0.03435944 0.00093370 -0.00896695
+v 0.02512685 0.00565718 -0.00903135
+v 0.02030275 0.01044036 -0.00866270
+v 0.02030275 0.00544992 0.00902987
+v 0.04895254 -0.01757394 0.00860389
+v 0.02030275 0.00099335 0.00815479
+v 0.05659012 -0.01757390 -0.00199162
+v 0.05657591 -0.01757390 -0.00244257
+v 0.05639473 -0.01757389 -0.00592489
+v 0.05283172 -0.01757388 -0.00898669
+v 0.05238767 -0.01757388 -0.00899564
+v 0.02030275 0.00586438 -0.00909219
+v 0.04817812 -0.01757394 0.00847326
+v 0.02030275 -0.00102598 0.00755174
+v 0.04885663 -0.01757388 -0.00856974
+v 0.02030275 0.00565718 -0.00909040
+v 0.04806090 -0.01757394 0.00841063
+v 0.02030275 -0.00361774 0.00630446
+v 0.02030275 -0.00715068 0.00414454
+v 0.04852626 -0.01757388 -0.00844269
+v 0.02030275 -0.00503649 -0.00610559
+v 0.02030275 0.00099341 -0.00823684
+v 0.04383003 -0.01757393 0.00591072
+v 0.02030275 -0.00858001 0.00193990
+v 0.04379451 -0.01757393 0.00588746
+v 0.04636642 -0.01757388 -0.00747637
+v 0.02030275 -0.00856243 -0.00199159
+v 0.04079632 -0.01757392 0.00193987
+v 0.04083539 -0.01757390 -0.00199162
+v 0.04309470 -0.01757389 -0.00545963
+v 0.04279275 -0.01757389 -0.00522521
+v 0.04124392 -0.01757390 -0.00338562
+f 1 2 10
+f 1 10 22
+f 1 22 43
+f 1 43 62
+f 1 62 64
+f 1 64 79
+f 1 79 88
+f 1 88 92
+f 1 92 98
+f 1 98 97
+f 1 97 103
+f 1 103 100
+f 1 100 95
+f 1 95 94
+f 1 94 90
+f 1 90 82
+f 1 82 80
+f 1 80 66
+f 1 66 46
+f 1 46 25
+f 1 25 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 5
+f 5 14 7
+f 5 7 6
+f 5 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 23
+f 10 23 24
+f 10 24 22
+f 11 25 12
+f 12 26 13
+f 12 25 27
+f 12 27 26
+f 13 26 28
+f 13 28 14
+f 14 29 30
+f 14 30 15
+f 14 28 29
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 17
+f 15 17 16
+f 15 30 31
+f 17 34 35
+f 17 35 36
+f 17 36 18
+f 18 36 37
+f 18 37 19
+f 19 37 20
+f 20 38 39
+f 20 39 21
+f 20 37 40
+f 20 40 41
+f 20 41 38
+f 21 39 38
+f 21 38 42
+f 21 42 24
+f 21 24 23
+f 22 24 43
+f 24 42 44
+f 24 44 45
+f 24 45 43
+f 25 46 27
+f 26 47 28
+f 26 27 48
+f 26 48 47
+f 27 46 48
+f 28 47 29
+f 29 49 30
+f 29 47 49
+f 30 49 31
+f 31 49 50
+f 31 50 32
+f 32 50 51
+f 32 51 52
+f 32 52 53
+f 32 53 33
+f 33 53 54
+f 33 54 35
+f 33 35 34
+f 35 54 40
+f 35 40 37
+f 35 37 36
+f 38 41 55
+f 38 55 56
+f 38 56 57
+f 38 57 58
+f 38 58 42
+f 40 54 59
+f 40 59 55
+f 40 55 41
+f 42 58 60
+f 42 60 61
+f 42 61 44
+f 43 45 62
+f 44 63 64
+f 44 64 65
+f 44 65 45
+f 44 61 63
+f 45 65 62
+f 46 66 48
+f 47 48 67
+f 47 67 49
+f 48 66 67
+f 49 67 50
+f 50 67 51
+f 51 67 81
+f 51 81 89
+f 51 89 93
+f 51 93 99
+f 51 99 101
+f 51 101 104
+f 51 104 105
+f 51 105 108
+f 51 108 107
+f 51 107 106
+f 51 106 102
+f 51 102 96
+f 51 96 91
+f 51 91 87
+f 51 87 86
+f 51 86 72
+f 51 72 75
+f 51 75 74
+f 51 74 85
+f 51 85 84
+f 51 84 83
+f 51 83 68
+f 51 68 52
+f 52 68 53
+f 53 68 69
+f 53 69 54
+f 54 69 70
+f 54 70 59
+f 55 59 71
+f 55 71 56
+f 56 72 73
+f 56 73 57
+f 56 71 74
+f 56 74 75
+f 56 75 72
+f 57 76 58
+f 57 73 76
+f 58 76 60
+f 59 70 71
+f 60 76 77
+f 60 77 61
+f 61 77 78
+f 61 78 63
+f 62 65 64
+f 63 78 79
+f 63 79 64
+f 66 80 67
+f 67 80 82
+f 67 82 81
+f 68 83 69
+f 69 83 70
+f 70 83 84
+f 70 84 71
+f 71 84 85
+f 71 85 74
+f 72 86 73
+f 73 86 76
+f 76 86 77
+f 77 86 87
+f 77 87 78
+f 78 87 88
+f 78 88 79
+f 81 82 89
+f 82 90 89
+f 87 91 92
+f 87 92 88
+f 89 90 94
+f 89 94 95
+f 89 95 93
+f 91 96 97
+f 91 97 98
+f 91 98 92
+f 93 95 99
+f 95 100 101
+f 95 101 99
+f 96 102 97
+f 97 102 103
+f 100 104 101
+f 100 103 105
+f 100 105 104
+f 102 106 103
+f 103 106 107
+f 103 107 108
+f 103 108 105
+

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mjcf/mesh/scissors_023_collision_9.obj

@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
+v -0.02292409 -0.00520405 0.00118754
+v -0.02292409 -0.00520406 0.00194008
+v -0.02292409 -0.00519481 -0.00199051
+v -0.01962859 -0.05098527 0.00193991
+v -0.02292409 -0.00447416 0.00416610
+v -0.01962859 -0.05098527 0.00195374
+v -0.02292409 -0.00384584 -0.00563074
+v -0.01956819 -0.05098525 -0.00199068
+v -0.02292409 -0.00380892 0.00586673
+v -0.01914163 -0.05098528 0.00447801
+v -0.02292409 0.00125425 0.00832583
+v -0.02292409 0.00018248 0.00784389
+v -0.02292409 -0.00253385 -0.00650179
+v -0.01908123 -0.05098524 -0.00438459
+v -0.02292409 -0.00038106 -0.00746962
+v -0.02292409 0.00057983 -0.00789033
+v -0.01912653 -0.05098528 0.00448986
+v -0.02292409 0.00565220 0.00910999
+v -0.02292409 0.00401683 0.00886309
+v -0.01907746 -0.05098524 -0.00439841
+v -0.02292409 0.00197498 -0.00831893
+v -0.01642370 -0.05098528 0.00624578
+v -0.02292409 0.00841478 0.00886113
+v -0.01312820 -0.05098529 0.00764025
+v -0.00719028 -0.05098529 0.00888856
+v -0.00716385 -0.05098529 0.00889054
+v -0.00719028 -0.00850256 0.00992174
+v -0.00719028 -0.00379047 0.01002052
+v -0.00719028 0.00093086 0.01000868
+v -0.00719028 0.02454676 0.00985273
+v -0.01180699 0.02926810 0.00924834
+v -0.01609906 0.02926810 0.00842667
+v -0.01642370 -0.05098524 -0.00598250
+v -0.02292409 0.00565226 -0.00898060
+v -0.02292409 0.00982841 0.00856684
+v -0.01542712 0.03309321 0.00822324
+v -0.01840930 0.02926810 0.00761093
+v -0.00257734 -0.05098529 0.00913348
+v -0.00255092 -0.05098529 0.00913348
+v 0.00665608 -0.00850256 0.00979928
+v 0.00665608 -0.00379047 0.00986448
+v 0.00665608 0.01037353 0.00985070
+v 0.00665608 0.01509486 0.00982307
+v 0.00665608 0.02454676 0.00974607
+v 0.00665608 0.02926810 0.00942413
+v -0.00719028 0.02926810 0.00949722
+v -0.00722425 0.04340438 0.00751419
+v -0.01180699 0.04340438 0.00699275
+v -0.01202593 -0.05098523 -0.00749943
+v -0.02292409 0.00971760 -0.00849864
+v -0.01516665 0.03288076 -0.00818451
+v -0.01180699 0.02926816 -0.00899829
+v -0.00719028 0.02454684 -0.00955333
+v -0.00719028 0.01509494 -0.00962052
+v -0.00719028 0.01037361 -0.00964424
+v -0.00719028 -0.00379039 -0.00965812
+v -0.00719028 -0.00850248 -0.00957518
+v -0.00257734 -0.05098523 -0.00887613
+v -0.00260377 -0.05098523 -0.00887415
+v -0.00719028 -0.05098523 -0.00851665
+v -0.01199951 -0.05098523 -0.00750733
+v -0.02292409 0.01153771 0.00631514
+v -0.01952289 0.03398944 0.00545602
+v -0.01922468 0.03702921 0.00482202
+v -0.02030808 0.03398945 0.00194022
+v -0.01674834 0.03439597 0.00748651
+v -0.01184096 0.04340438 0.00698287
+v 0.00203937 -0.05098529 0.00907620
+v 0.01127279 -0.00850255 0.00933314
+v 0.01127279 -0.00379046 0.00942796
+v 0.00665608 -0.05098529 0.00875228
+v 0.01563658 0.00540274 0.00911987
+v 0.01563658 0.01037354 0.00917519
+v 0.01127279 0.02926810 0.00915946
+v 0.00197520 0.04340438 0.00756555
+v -0.00248297 0.04340438 0.00760308
+v -0.02292409 0.01162091 -0.00592302
+v -0.02028920 0.03398947 -0.00199037
+v -0.01920958 0.03697381 -0.00478719
+v -0.01950402 0.03398948 -0.00534224
+v -0.01659357 0.03426668 -0.00737468
+v -0.01180699 0.04340444 -0.00683148
+v -0.00719028 0.04340444 -0.00755241
+v -0.00715630 0.04340444 -0.00755439
+v -0.00719028 0.02926816 -0.00923728
+v 0.00665608 0.02454684 -0.01013206
+v 0.00665608 0.01509494 -0.01015776
+v 0.00665608 -0.00379039 -0.01012031
+v 0.00665608 0.00093094 -0.01013412
+v 0.00201294 -0.05098523 -0.00896501
+v -0.02292409 0.01176870 0.00587271
+v -0.01527613 0.04340439 0.00518942
+v -0.01646145 0.04340440 0.00194026
+v -0.01946250 0.03735259 0.00194024
+v -0.02292409 0.01235081 -0.00199044
+v -0.02292409 0.01238774 0.00194015
+v 0.00667495 -0.05098529 0.00874833
+v 0.01218632 -0.05098529 0.00757902
+v 0.01534214 -0.01322388 0.00836528
+v 0.01564036 -0.00850255 0.00847789
+v 0.01563658 0.02926810 0.00832001
+v 0.01546671 0.02926810 0.00837927
+v 0.01460226 0.03398943 0.00812251
+v 0.01369628 0.03643787 0.00785587
+v 0.01163518 0.03426662 0.00836744
+v 0.00665608 0.04340438 0.00727717
+v -0.01944740 0.03730642 -0.00199035
+v -0.01632555 0.04340442 -0.00199033
+v -0.01513646 0.04340443 -0.00505382
+v -0.00250184 0.04340444 -0.00766697
+v 0.00665608 0.02926817 -0.00978046
+v 0.01127279 0.02926817 -0.00965602
+v 0.01127279 0.02454684 -0.00968369
+v 0.01563658 0.01037360 -0.00931044
+v 0.01127279 0.01509494 -0.00971730
+v 0.01127279 0.01037361 -0.00973115
+v 0.01127279 -0.00379039 -0.00967787
+v 0.01127279 -0.00850248 -0.00957123
+v 0.00665608 -0.00850248 -0.00999589
+v 0.00203937 -0.05098523 -0.00896501
+v -0.01646145 0.04340440 0.00190471
+v 0.01563658 -0.05098528 0.00624776
+v 0.01563658 -0.01268800 0.00828430
+v 0.01563658 -0.05098524 -0.00628273
+v 0.01563658 -0.01313142 -0.00851453
+v 0.01563658 0.00565226 -0.00928478
+v 0.01563658 0.00591097 -0.00928675
+v 0.01563658 0.01063230 -0.00930846
+v 0.01563658 0.02926816 -0.00884225
+v 0.01563658 0.03405417 -0.00833659
+v 0.01563658 0.03467321 -0.00823190
+v 0.01563658 0.03625314 -0.00790402
+v 0.01563658 0.03935757 -0.00598217
+v 0.01563658 0.04166741 -0.00367911
+v 0.01563658 0.04313648 -0.00199033
+v 0.01563658 0.04340440 0.00148597
+v 0.01563658 0.04340440 0.00196791
+v 0.01563658 0.03824880 0.00607427
+v 0.01563658 0.03797162 0.00620859
+v 0.01563658 0.03398943 0.00779858
+v 0.01563658 0.02983170 0.00826273
+v 0.01127279 0.04340438 0.00682288
+v -0.00232065 0.04340444 -0.00766895
+v 0.00194500 0.04340444 -0.00764327
+v 0.00669005 0.04340444 -0.00751489
+v 0.01453053 0.03659500 -0.00798896
+v 0.01562526 -0.01322382 -0.00851453
+v 0.00665608 -0.05098523 -0.00871021
+v 0.00662966 -0.05098523 -0.00871219
+v 0.01562148 -0.05098524 -0.00629063
+v 0.01127279 0.04340444 -0.00694406
+v 0.01130299 0.04340444 -0.00693616
+v 0.01449279 0.04340443 -0.00517233
+v 0.01450788 0.04340443 -0.00513480
+v 0.01553843 0.04340442 -0.00199033
+v 0.01460226 0.04340439 0.00520127
+v 0.01525532 -0.01794515 -0.00838024
+v 0.01205797 -0.05098523 -0.00762585
+f 1 2 5
+f 1 5 9
+f 1 9 12
+f 1 12 11
+f 1 11 19
+f 1 19 18
+f 1 18 23
+f 1 23 35
+f 1 35 62
+f 1 62 91
+f 1 91 96
+f 1 96 95
+f 1 95 77
+f 1 77 50
+f 1 50 34
+f 1 34 21
+f 1 21 16
+f 1 16 15
+f 1 15 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 4
+f 4 8 14
+f 4 14 20
+f 4 20 33
+f 4 33 49
+f 4 49 61
+f 4 61 60
+f 4 60 59
+f 4 59 58
+f 4 58 90
+f 4 90 120
+f 4 120 149
+f 4 149 148
+f 4 148 158
+f 4 158 150
+f 4 150 124
+f 4 124 122
+f 4 122 98
+f 4 98 97
+f 4 97 71
+f 4 71 68
+f 4 68 39
+f 4 39 38
+f 4 38 26
+f 4 26 25
+f 4 25 24
+f 4 24 22
+f 4 22 17
+f 4 17 10
+f 4 10 6
+f 5 6 9
+f 6 10 11
+f 6 11 12
+f 6 12 9
+f 7 13 8
+f 8 13 15
+f 8 15 16
+f 8 16 14
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 14 16 20
+f 16 21 20
+f 17 22 18
+f 18 22 24
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 23
+f 20 21 34
+f 20 34 33
+f 23 32 36
+f 23 36 37
+f 23 37 35
+f 26 38 27
+f 27 38 28
+f 28 38 39
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 28 42 29
+f 29 42 43
+f 29 43 30
+f 30 44 45
+f 30 45 46
+f 30 46 31
+f 30 43 44
+f 31 36 32
+f 31 46 47
+f 31 47 48
+f 31 48 36
+f 33 34 49
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 54
+f 34 54 55
+f 34 55 56
+f 34 56 57
+f 34 57 58
+f 34 58 59
+f 34 59 60
+f 34 60 61
+f 34 61 49
+f 35 37 63
+f 35 63 64
+f 35 64 65
+f 35 65 62
+f 36 66 37
+f 36 48 67
+f 36 67 66
+f 37 66 63
+f 39 68 40
+f 40 69 70
+f 40 70 41
+f 40 68 71
+f 40 71 69
+f 41 70 72
+f 41 72 73
+f 41 73 42
+f 42 73 43
+f 43 73 44
+f 44 74 45
+f 44 73 74
+f 45 74 75
+f 45 75 76
+f 45 76 46
+f 46 76 47
+f 47 76 75
+f 47 75 106
+f 47 106 142
+f 47 142 156
+f 47 156 137
+f 47 137 136
+f 47 136 155
+f 47 155 154
+f 47 154 153
+f 47 153 152
+f 47 152 151
+f 47 151 145
+f 47 145 144
+f 47 144 143
+f 47 143 110
+f 47 110 84
+f 47 84 83
+f 47 83 82
+f 47 82 109
+f 47 109 108
+f 47 108 121
+f 47 121 93
+f 47 93 92
+f 47 92 67
+f 47 67 48
+f 50 77 78
+f 50 78 79
+f 50 79 80
+f 50 80 81
+f 50 81 51
+f 51 81 82
+f 51 82 83
+f 51 83 52
+f 52 83 84
+f 52 84 85
+f 52 85 53
+f 53 85 86
+f 53 86 54
+f 54 86 55
+f 55 86 87
+f 55 87 56
+f 56 88 57
+f 56 87 89
+f 56 89 88
+f 57 88 58
+f 58 88 90
+f 62 65 91
+f 63 66 64
+f 64 92 93
+f 64 93 94
+f 64 94 65
+f 64 66 92
+f 65 94 78
+f 65 78 95
+f 65 95 96
+f 65 96 91
+f 66 67 92
+f 69 71 72
+f 69 72 70
+f 71 97 72
+f 72 97 98
+f 72 98 99
+f 72 99 100
+f 72 100 73
+f 73 100 101
+f 73 101 102
+f 73 102 74
+f 74 102 103
+f 74 103 104
+f 74 104 105
+f 74 105 106
+f 74 106 75
+f 77 95 78
+f 78 94 107
+f 78 107 79
+f 79 107 108
+f 79 108 109
+f 79 109 81
+f 79 81 80
+f 81 109 82
+f 84 110 111
+f 84 111 85
+f 85 111 86
+f 86 111 112
+f 86 112 113
+f 86 113 114
+f 86 114 115
+f 86 115 116
+f 86 116 87
+f 87 116 89
+f 88 117 118
+f 88 118 119
+f 88 119 120
+f 88 120 90
+f 88 89 116
+f 88 116 117
+f 93 121 94
+f 94 121 107
+f 98 122 123
+f 98 123 99
+f 99 123 100
+f 100 123 122
+f 100 122 124
+f 100 124 125
+f 100 125 126
+f 100 126 127
+f 100 127 114
+f 100 114 128
+f 100 128 129
+f 100 129 130
+f 100 130 131
+f 100 131 132
+f 100 132 133
+f 100 133 134
+f 100 134 135
+f 100 135 136
+f 100 136 137
+f 100 137 138
+f 100 138 139
+f 100 139 140
+f 100 140 141
+f 100 141 101
+f 101 141 102
+f 102 141 140
+f 102 140 103
+f 103 140 104
+f 104 142 106
+f 104 106 105
+f 104 140 142
+f 107 121 108
+f 110 143 111
+f 111 143 144
+f 111 144 112
+f 112 131 130
+f 112 130 129
+f 112 129 128
+f 112 128 114
+f 112 114 113
+f 112 144 145
+f 112 145 146
+f 112 146 131
+f 114 116 115
+f 114 127 117
+f 114 117 116
+f 117 127 126
+f 117 126 118
+f 118 147 148
+f 118 148 119
+f 118 126 147
+f 119 148 149
+f 119 149 120
+f 124 150 125
+f 125 150 147
+f 125 147 126
+f 131 146 132
+f 132 146 151
+f 132 151 152
+f 132 152 153
+f 132 153 133
+f 133 153 154
+f 133 154 134
+f 134 154 155
+f 134 155 135
+f 135 155 136
+f 137 156 138
+f 138 156 139
+f 139 156 140
+f 140 156 142
+f 145 151 146
+f 147 150 157
+f 147 157 158
+f 147 158 148
+f 150 158 157
+

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mjcf/scissors_023.xml

@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scissors_023">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/scissors_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scissors_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scissors_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scissors_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scissors_023_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scissors_023_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scissors_023_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scissors_023_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scissors_023_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scissors_023_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scissors_023_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scissors_023_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/scissors_023_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/scissors_023_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/scissors_023_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scissors_023">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/scissors_023.urdf

@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scissors_023">
+   <link name="scissors_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scissors_023.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scissors_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0650" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>6793da611a6951589926b7815dd8285f</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scissors</category>
+         <name>craft scissors</name>
+         <color>black,beige</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact scissors with black blades and beige loop handles</description>
+         <min_height>0.0201</min_height>
+         <max_height>0.0201</max_height>
+         <real_height>0.0201</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.09</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609172934</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060276 -0.091789 -0.010070</min>
+            <max>0.059724 0.193539 0.010008</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/scissors_023.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aec03a4f240e35962d0a5e6626ad009902bb11934ca9d6caf13bf99b1a4cc7f8
+size 4931579

dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4297d7870dc5f2a513d41871269bca69978b0787b83b805a32d200614f420ca6
+size 104391